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+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-65_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-40_task-24_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,open)"
+      ],
+      "pull(drawer_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-40_task-24_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-40_task-39_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, steering_wheel)",
+      "grasp(steering_wheel)",
+      "turn(steering_wheel, clockwise,90_degrees)"
+    ],
+    "gt_dag": {
+      "move_to(none, steering_wheel)": [
+        "grasp(steering_wheel)"
+      ],
+      "grasp(steering_wheel)": [
+        "turn(steering_wheel, clockwise,90_degrees)"
+      ],
+      "turn(steering_wheel, clockwise,90_degrees)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-40_task-39_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-43_task-23_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_handle,close)"
+      ],
+      "push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-43_task-23_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-47_task-60_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, window)",
+      "grasp(handle_of_the_window)",
+      "push(handle_of_the_window,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, window)": [
+        "grasp(handle_of_the_window)"
+      ],
+      "grasp(handle_of_the_window)": [
+        "push(handle_of_the_window,close)"
+      ],
+      "push(handle_of_the_window,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-47_task-60_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-67_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, microwave_door_handle)",
+      "grasp(microwave_door_handle)",
+      "push(microwave_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_door_handle)": [
+        "grasp(microwave_door_handle)"
+      ],
+      "grasp(microwave_door_handle)": [
+        "push(microwave_door,close)"
+      ],
+      "push(microwave_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-67_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-70_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, glasses)",
+      "grasp(glasses)",
+      "unfold(glasses, unfold)",
+      "place( glasses,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, glasses)": [
+        "grasp(glasses)"
+      ],
+      "grasp(glasses)": [
+        "unfold(glasses, unfold)"
+      ],
+      "unfold(glasses, unfold)": [
+        "place( glasses,table)"
+      ],
+      "place( glasses,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-70_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-60_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, sliding_window)",
+      "grasp(sliding_window)",
+      "push(sliding_window,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, sliding_window)": [
+        "grasp(sliding_window)"
+      ],
+      "grasp(sliding_window)": [
+        "push(sliding_window,close)"
+      ],
+      "push(sliding_window,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-60_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-68_task-24_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none,plug)",
+      "grasp(plug)",
+      "pullout(plug,socket)"
+    ],
+    "gt_dag": {
+      "move_to(none,plug)": [
+        "grasp(plug)"
+      ],
+      "grasp(plug)": [
+        "pullout(plug,socket)"
+      ],
+      "pullout(plug,socket)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-68_task-24_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-68_task-44_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, steering_wheel)",
+      "grasp(steering_wheel)",
+      "turn(steering_wheel, clockwise,90_degrees)"
+    ],
+    "gt_dag": {
+      "move_to(none, steering_wheel)": [
+        "grasp(steering_wheel)"
+      ],
+      "grasp(steering_wheel)": [
+        "turn(steering_wheel, clockwise,90_degrees)"
+      ],
+      "turn(steering_wheel, clockwise,90_degrees)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-68_task-44_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-23_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, power_strip)",
+      "grasp(power_strip_switch)",
+      "press(power_strip_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, power_strip)": [
+        "grasp(power_strip_switch)"
+      ],
+      "grasp(power_strip_switch)": [
+        "press(power_strip_switch)"
+      ],
+      "press(power_strip_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-23_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-73_task-69_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, microwave_door_handle)",
+      "grasp(microwave_door_handle)",
+      "pull  (microwave_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_door_handle)": [
+        "grasp(microwave_door_handle)"
+      ],
+      "grasp(microwave_door_handle)": [
+        "pull  (microwave_door,open)"
+      ],
+      "pull  (microwave_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-73_task-69_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-20_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, lamp_switch)",
+      "grasp(lamp_switch)",
+      "press(lamp_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, lamp_switch)": [
+        "grasp(lamp_switch)"
+      ],
+      "grasp(lamp_switch)": [
+        "press(lamp_switch)"
+      ],
+      "press(lamp_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-20_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10457",
+    "actions_list": [
+      "move_to(none, fridge_door)",
+      "grasp(fridge_handle)",
+      "pull(fridge_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, fridge_door)": [
+        "grasp(fridge_handle)"
+      ],
+      "grasp(fridge_handle)": [
+        "pull(fridge_door,open)"
+      ],
+      "pull(fridge_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_2_49_bridge#episode_10457.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12463",
+    "actions_list": [
+      "move_to(none, oven_door_handle)",
+      "grasp(oven_door_handle)",
+      "push(oven_door_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, oven_door_handle)": [
+        "grasp(oven_door_handle)"
+      ],
+      "grasp(oven_door_handle)": [
+        "push(oven_door_handle,close)"
+      ],
+      "push(oven_door_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_12463.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16570",
+    "actions_list": [
+      "move_to(none, microwave)",
+      "grasp(microwave_door)",
+      "pull(microwave_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave)": [
+        "grasp(microwave_door)"
+      ],
+      "grasp(microwave_door)": [
+        "pull(microwave_door,open)"
+      ],
+      "pull(microwave_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_7_49_bridge#episode_16570.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20124",
+    "actions_list": [
+      "move_to(none, microwave_door_handle)",
+      "grasp(microwave_door_handle)",
+      "push(microwave_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_door_handle)": [
+        "grasp(microwave_door_handle)"
+      ],
+      "grasp(microwave_door_handle)": [
+        "push(microwave_door,close)"
+      ],
+      "push(microwave_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_20124.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5636",
+    "actions_list": [
+      "move_to(none, microwave)",
+      "geasp(microwave_door)",
+      "pull(microwave_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave)": [
+        "geasp(microwave_door)"
+      ],
+      "geasp(microwave_door)": [
+        "pull(microwave_door,open)"
+      ],
+      "pull(microwave_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_15_49_bridge#episode_5636.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7036",
+    "actions_list": [
+      "move_to(none, refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "pull(refrigerator_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, refrigerator_handle)": [
+        "grasp(refrigerator_handle)"
+      ],
+      "grasp(refrigerator_handle)": [
+        "pull(refrigerator_handle,open)"
+      ],
+      "pull(refrigerator_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_16_49_bridge#episode_7036.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7483",
+    "actions_list": [
+      "move_to(none, oven_door)",
+      "grasp(oven_door)",
+      "push(oven_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, oven_door)": [
+        "grasp(oven_door)"
+      ],
+      "grasp(oven_door)": [
+        "push(oven_door,close)"
+      ],
+      "push(oven_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_16_49_bridge#episode_7483.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11641",
+    "actions_list": [
+      "move_to(none, microwave_handle)",
+      "grasp(microwave_handle)",
+      "push(microwave_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_handle)": [
+        "grasp(microwave_handle)"
+      ],
+      "grasp(microwave_handle)": [
+        "push(microwave_handle,close)"
+      ],
+      "push(microwave_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11641.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12209",
+    "actions_list": [
+      "move_to(none, fridge_handle)",
+      "grasp(fridge_handle)",
+      "pull(fridge_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, fridge_handle)": [
+        "grasp(fridge_handle)"
+      ],
+      "grasp(fridge_handle)": [
+        "pull(fridge_handle,open)"
+      ],
+      "pull(fridge_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12209.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_14955",
+    "actions_list": [
+      "move_to(none, microwave)",
+      "grasp(microwave_door)",
+      "pull(microwave_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave)": [
+        "grasp(microwave_door)"
+      ],
+      "grasp(microwave_door)": [
+        "pull(microwave_door,open)"
+      ],
+      "pull(microwave_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_14955.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_17326",
+    "actions_list": [
+      "move_to(none,oven_door)",
+      "grasp(oven_door)",
+      "push(oven_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none,oven_door)": [
+        "grasp(oven_door)"
+      ],
+      "grasp(oven_door)": [
+        "push(oven_door,close)"
+      ],
+      "push(oven_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_17326.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_19979",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(handle_of_the_drawer)",
+      "push(handle_of_the_drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(handle_of_the_drawer)"
+      ],
+      "grasp(handle_of_the_drawer)": [
+        "push(handle_of_the_drawer,close)"
+      ],
+      "push(handle_of_the_drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_19979.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_20559",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,open)"
+      ],
+      "pull(drawer_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_20559.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_21977",
+    "actions_list": [
+      "move_to(none, fridge_handle)",
+      "grasp(fridge_handle)",
+      "pull(fridge_handler,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, fridge_handle)": [
+        "grasp(fridge_handle)"
+      ],
+      "grasp(fridge_handle)": [
+        "pull(fridge_handler,open)"
+      ],
+      "pull(fridge_handler,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_21977.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24780",
+    "actions_list": [
+      "move_to(none, refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "pull(refrigerator_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, refrigerator_handle)": [
+        "grasp(refrigerator_handle)"
+      ],
+      "grasp(refrigerator_handle)": [
+        "pull(refrigerator_handle,open)"
+      ],
+      "pull(refrigerator_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24780.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_30505",
+    "actions_list": [
+      "move_to(none, microwave_handle)",
+      "grasp(microwave_handle)",
+      "pull(microwave_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_handle)": [
+        "grasp(microwave_handle)"
+      ],
+      "grasp(microwave_handle)": [
+        "pull(microwave_handle,open)"
+      ],
+      "pull(microwave_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_30505.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34585",
+    "actions_list": [
+      "move_to(none, freezer_handle)",
+      "grasp(freezer_handle)",
+      "pull(freezer_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, freezer_handle)": [
+        "grasp(freezer_handle)"
+      ],
+      "grasp(freezer_handle)": [
+        "pull(freezer_handle,open)"
+      ],
+      "pull(freezer_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34585.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3773",
+    "actions_list": [
+      "move_to(none, refrigerator_door)",
+      "grasp(refrigerator_door)",
+      "push(refrigerator_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, refrigerator_door)": [
+        "grasp(refrigerator_door)"
+      ],
+      "grasp(refrigerator_door)": [
+        "push(refrigerator_door,close)"
+      ],
+      "push(refrigerator_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3773.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40808",
+    "actions_list": [
+      "move_to(none, refrigerator_door_handle)",
+      "grasp(refrigerator_door_handle)",
+      "push(refrigerator_door_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, refrigerator_door_handle)": [
+        "grasp(refrigerator_door_handle)"
+      ],
+      "grasp(refrigerator_door_handle)": [
+        "push(refrigerator_door_handle,close)"
+      ],
+      "push(refrigerator_door_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40808.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_44189",
+    "actions_list": [
+      "move_to(none, microwave)",
+      "grasp(microwave_door)",
+      "push(microwave_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave)": [
+        "grasp(microwave_door)"
+      ],
+      "grasp(microwave_door)": [
+        "push(microwave_door,close)"
+      ],
+      "push(microwave_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_44189.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48176",
+    "actions_list": [
+      "move_to(none, microwave)",
+      "grasp(none, handle)",
+      "pull(handle, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave)": [
+        "grasp(none, handle)"
+      ],
+      "grasp(none, handle)": [
+        "pull(handle, open)"
+      ],
+      "pull(handle, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48176.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52899",
+    "actions_list": [
+      "move_to(none, refrigerator_door_handle)",
+      "grasp(refrigerator_door_handle)",
+      "push(refrigerator_door_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, refrigerator_door_handle)": [
+        "grasp(refrigerator_door_handle)"
+      ],
+      "grasp(refrigerator_door_handle)": [
+        "push(refrigerator_door_handle,close)"
+      ],
+      "push(refrigerator_door_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52899.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8256",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,open)"
+      ],
+      "pull(drawer_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8256.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_111",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_handle,close)"
+      ],
+      "push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_111.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_133",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_133.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_137",
+    "actions_list": [
+      "move_to(none, door_handle)",
+      "grasp(door_handle)",
+      "push(door_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, door_handle)": [
+        "grasp(door_handle)"
+      ],
+      "grasp(door_handle)": [
+        "push(door_handle,close)"
+      ],
+      "push(door_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_137.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1088",
+    "actions_list": [
+      "move_to(none, door)",
+      "grasp(door_handle)",
+      "pull(door_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, door)": [
+        "grasp(door_handle)"
+      ],
+      "grasp(door_handle)": [
+        "pull(door_handle,open)"
+      ],
+      "pull(door_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1088.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1129",
+    "actions_list": [
+      "move_to(none, cabinet_door_handle)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door_handle)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door_handle,close)"
+      ],
+      "push(cabinet_door_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1129.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1404",
+    "actions_list": [
+      "move_to(none, rice_cooker)",
+      "grasp(power_button)",
+      "press(power_button)"
+    ],
+    "gt_dag": {
+      "move_to(none, rice_cooker)": [
+        "grasp(power_button)"
+      ],
+      "grasp(power_button)": [
+        "press(power_button)"
+      ],
+      "press(power_button)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1404.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1451",
+    "actions_list": [
+      "move_to(none, refrigerator_door)",
+      "grasp(handle_of_the_refrigerator_door)",
+      "push(handle_of_the_refrigerator_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, refrigerator_door)": [
+        "grasp(handle_of_the_refrigerator_door)"
+      ],
+      "grasp(handle_of_the_refrigerator_door)": [
+        "push(handle_of_the_refrigerator_door,close)"
+      ],
+      "push(handle_of_the_refrigerator_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1451.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1515",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(handle_of_the_cabinet_door)",
+      "pull(handle_of_the_cabinet_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(handle_of_the_cabinet_door)"
+      ],
+      "grasp(handle_of_the_cabinet_door)": [
+        "pull(handle_of_the_cabinet_door,open)"
+      ],
+      "pull(handle_of_the_cabinet_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1515.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1540",
+    "actions_list": [
+      "move_to(none, cabinet)",
+      "grasp( cabinet_door)",
+      "push(cabinet_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet)": [
+        "grasp( cabinet_door)"
+      ],
+      "grasp( cabinet_door)": [
+        "push(cabinet_door,close)"
+      ],
+      "push(cabinet_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1540.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1579",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(handle_of_the_cabinet_door)",
+      "pull((handle_of_the_cabinet_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(handle_of_the_cabinet_door)"
+      ],
+      "grasp(handle_of_the_cabinet_door)": [
+        "pull((handle_of_the_cabinet_door,open)"
+      ],
+      "pull((handle_of_the_cabinet_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1579.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_22_55_dobbe#episode_1898",
+    "actions_list": [
+      "move_to(none, handle_of_the_sliding_door)",
+      "grasp(handle_of_the_sliding_door)",
+      "push(handle_of_the_sliding_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, handle_of_the_sliding_door)": [
+        "grasp(handle_of_the_sliding_door)"
+      ],
+      "grasp(handle_of_the_sliding_door)": [
+        "push(handle_of_the_sliding_door,close)"
+      ],
+      "push(handle_of_the_sliding_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_22_55_dobbe#episode_1898.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2534",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(handle)",
+      "pull(drawer,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(handle)"
+      ],
+      "grasp(handle)": [
+        "pull(drawer,open)"
+      ],
+      "pull(drawer,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2534.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2667",
+    "actions_list": [
+      "move_to(none, open_drawer)",
+      "grasp(drawer)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, open_drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2667.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2789",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,open)"
+      ],
+      "pull(drawer_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2789.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2825",
+    "actions_list": [
+      "move_to(none, cabinet_door_handles)",
+      "grasp(handles_of_the_cabinet_door)",
+      "pull(handles_of_the_cabinet_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door_handles)": [
+        "grasp(handles_of_the_cabinet_door)"
+      ],
+      "grasp(handles_of_the_cabinet_door)": [
+        "pull(handles_of_the_cabinet_door,open)"
+      ],
+      "pull(handles_of_the_cabinet_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2825.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2842",
+    "actions_list": [
+      "move_to(none, door_handles)",
+      "grasp(door_handles)",
+      "pull(door_handles, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, door_handles)": [
+        "grasp(door_handles)"
+      ],
+      "grasp(door_handles)": [
+        "pull(door_handles, open)"
+      ],
+      "pull(door_handles, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2842.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_3148",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer)",
+      "pull(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "pull(drawer,close)"
+      ],
+      "pull(drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_23_55_dobbe#episode_3148.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3486",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_handle,close)"
+      ],
+      "push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3486.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3695",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle, close)"
+      ],
+      "pull(drawer_handle, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3695.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3723",
+    "actions_list": [
+      "move_to(none, cabinet_door_handle)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door_handle)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door_handle,close)"
+      ],
+      "push(cabinet_door_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3723.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3746",
+    "actions_list": [
+      "move_to(none, oven_door)",
+      "grasp(oven_door_handle)",
+      "pull(oven_door_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, oven_door)": [
+        "grasp(oven_door_handle)"
+      ],
+      "grasp(oven_door_handle)": [
+        "pull(oven_door_handle,open)"
+      ],
+      "pull(oven_door_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3746.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3990",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,open)"
+      ],
+      "pull(drawer_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3990.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4034",
+    "actions_list": [
+      "move_to(none, dishwasher_door)",
+      "grasp(handle_of_the_dishwasher)",
+      "pull(handle_of_the_dishwasher,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, dishwasher_door)": [
+        "grasp(handle_of_the_dishwasher)"
+      ],
+      "grasp(handle_of_the_dishwasher)": [
+        "pull(handle_of_the_dishwasher,open)"
+      ],
+      "pull(handle_of_the_dishwasher,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4034.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4430",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(handle_of_the_cabinet_door)",
+      "pull(handle_of_the_cabinet_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(handle_of_the_cabinet_door)"
+      ],
+      "grasp(handle_of_the_cabinet_door)": [
+        "pull(handle_of_the_cabinet_door,open)"
+      ],
+      "pull(handle_of_the_cabinet_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4430.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4544",
+    "actions_list": [
+      "move_to(none, light_switch)",
+      "grasp(light_switch)",
+      "press(light_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, light_switch)": [
+        "grasp(light_switch)"
+      ],
+      "grasp(light_switch)": [
+        "press(light_switch)"
+      ],
+      "press(light_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4544.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4942",
+    "actions_list": [
+      "move_to(none, light_switch)",
+      "grasp(light_switch)",
+      "press(light_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, light_switch)": [
+        "grasp(light_switch)"
+      ],
+      "grasp(light_switch)": [
+        "press(light_switch)"
+      ],
+      "press(light_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4942.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_553",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(handle)",
+      "pull(handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(handle)"
+      ],
+      "grasp(handle)": [
+        "pull(handle,open)"
+      ],
+      "pull(handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_26_55_dobbe#episode_553.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_741",
+    "actions_list": [
+      "move_to(none, door_handles)",
+      "grasp(door_handles)",
+      "push(door_handles,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, door_handles)": [
+        "grasp(door_handles)"
+      ],
+      "grasp(door_handles)": [
+        "push(door_handles,open)"
+      ],
+      "push(door_handles,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_26_55_dobbe#episode_741.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_882",
+    "actions_list": [
+      "move_to(none, light_switch)",
+      "grasp(light_switch)",
+      "press(light_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, light_switch)": [
+        "grasp(light_switch)"
+      ],
+      "grasp(light_switch)": [
+        "press(light_switch)"
+      ],
+      "press(light_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_26_55_dobbe#episode_882.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_94",
+    "actions_list": [
+      "move_to(none, cabinet_handle)",
+      "grasp(handle)",
+      "pull(handle, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_handle)": [
+        "grasp(handle)"
+      ],
+      "grasp(handle)": [
+        "pull(handle, open)"
+      ],
+      "pull(handle, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_94.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_292",
+    "actions_list": [
+      "move_to(none, cabinet_door_handles)",
+      "grasp(cabinet_door_handles)",
+      "pull(cabinet_door_handles,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door_handles)": [
+        "grasp(cabinet_door_handles)"
+      ],
+      "grasp(cabinet_door_handles)": [
+        "pull(cabinet_door_handles,open)"
+      ],
+      "pull(cabinet_door_handles,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_292.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_6758",
+    "actions_list": [
+      "move_to(none, middle_cabinet_door)",
+      "grasp(middle_cabinet_door)",
+      "pull(middle_cabinet_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, middle_cabinet_door)": [
+        "grasp(middle_cabinet_door)"
+      ],
+      "grasp(middle_cabinet_door)": [
+        "pull(middle_cabinet_door,open)"
+      ],
+      "pull(middle_cabinet_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_6758.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_8623",
+    "actions_list": [
+      "move_to(none, toaster)",
+      "grasp(lever)",
+      "press(lever)"
+    ],
+    "gt_dag": {
+      "move_to(none, toaster)": [
+        "grasp(lever)"
+      ],
+      "grasp(lever)": [
+        "press(lever)"
+      ],
+      "press(lever)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_8623.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_8885",
+    "actions_list": [
+      "move_to(none, handle_of_the_sandwich_maker)",
+      "grasp(handle_of_the_sandwich_maker)",
+      "pull(handle_of_the_sandwich_maker,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, handle_of_the_sandwich_maker)": [
+        "grasp(handle_of_the_sandwich_maker)"
+      ],
+      "grasp(handle_of_the_sandwich_maker)": [
+        "pull(handle_of_the_sandwich_maker,open)"
+      ],
+      "pull(handle_of_the_sandwich_maker,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_8885.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_9040",
+    "actions_list": [
+      "move_to(none, lid_handle)",
+      "grasp(lid_handle)",
+      "press(lid_handle)",
+      "grasp(lid_handle)",
+      "turn(lid_handle,up,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, lid_handle)": [
+        "grasp(lid_handle)"
+      ],
+      "grasp(lid_handle)": [
+        "press(lid_handle)"
+      ],
+      "press(lid_handle)": [
+        "grasp(lid_handle)<1>"
+      ],
+      "turn(lid_handle,up,open)": [],
+      "grasp(lid_handle)<1>": [
+        "turn(lid_handle,up,open)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_9040.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_10329",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer)",
+      "push (drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push (drawer,close)"
+      ],
+      "push (drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_10329.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_11272",
+    "actions_list": [
+      "move_to(none, coffee_machine_handle)",
+      "grasp(coffee_maker)",
+      "press(coffee_machine_handle)",
+      "grasp(coffee_maker)",
+      "turn(coffee_machine_handle,up,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, coffee_machine_handle)": [
+        "grasp(coffee_maker)"
+      ],
+      "grasp(coffee_maker)": [
+        "press(coffee_machine_handle)"
+      ],
+      "press(coffee_machine_handle)": [
+        "grasp(coffee_maker)<1>"
+      ],
+      "turn(coffee_machine_handle,up,close)": [],
+      "grasp(coffee_maker)<1>": [
+        "turn(coffee_machine_handle,up,close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_11272.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_11629",
+    "actions_list": [
+      "move_to(none,handle_of_the_top_drawer)",
+      "grasp(handle_of_the_top_drawer)",
+      "pull(handle_of_the_top_drawer,open)"
+    ],
+    "gt_dag": {
+      "move_to(none,handle_of_the_top_drawer)": [
+        "grasp(handle_of_the_top_drawer)"
+      ],
+      "grasp(handle_of_the_top_drawer)": [
+        "pull(handle_of_the_top_drawer,open)"
+      ],
+      "pull(handle_of_the_top_drawer,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_11629.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_15221",
+    "actions_list": [
+      "move_to(none, mini_oven)",
+      "grasp(handle_of_the_mini_oven)",
+      "push(mini_oven,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, mini_oven)": [
+        "grasp(handle_of_the_mini_oven)"
+      ],
+      "grasp(handle_of_the_mini_oven)": [
+        "push(mini_oven,close)"
+      ],
+      "push(mini_oven,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_15221.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_15913",
+    "actions_list": [
+      "move_to(none, briefcase)",
+      "grasp(handle_of_the_briefcase)",
+      "turn(briefcase,up,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, briefcase)": [
+        "grasp(handle_of_the_briefcase)"
+      ],
+      "grasp(handle_of_the_briefcase)": [
+        "turn(briefcase,up,open)"
+      ],
+      "turn(briefcase,up,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_15913.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_17849",
+    "actions_list": [
+      "move_to(none, tap)",
+      "grasp(tap_handle)",
+      "turn(tap_handle, anticlockwise,right)"
+    ],
+    "gt_dag": {
+      "move_to(none, tap)": [
+        "grasp(tap_handle)"
+      ],
+      "grasp(tap_handle)": [
+        "turn(tap_handle, anticlockwise,right)"
+      ],
+      "turn(tap_handle, anticlockwise,right)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_17849.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19022",
+    "actions_list": [
+      "move_to(none, shower_door_handle)",
+      "grasp(shower_door_handle)",
+      "pull(shower_door_handle, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, shower_door_handle)": [
+        "grasp(shower_door_handle)"
+      ],
+      "grasp(shower_door_handle)": [
+        "pull(shower_door_handle, open)"
+      ],
+      "pull(shower_door_handle, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_19022.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19554",
+    "actions_list": [
+      "move_to(none,cabinet_door_handle)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none,cabinet_door_handle)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door_handle,close)"
+      ],
+      "push(cabinet_door_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_19554.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19847",
+    "actions_list": [
+      "move_to(none, cabinet_handle)",
+      "grasp(cabinet_handle)",
+      "pull(cabinet_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_handle)": [
+        "grasp(cabinet_handle)"
+      ],
+      "grasp(cabinet_handle)": [
+        "pull(cabinet_handle,open)"
+      ],
+      "pull(cabinet_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_19847.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_21915",
+    "actions_list": [
+      "move_to(none, glass_door_handle)",
+      "grasp(glass_door_handle)",
+      "pull(glass_door_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, glass_door_handle)": [
+        "grasp(glass_door_handle)"
+      ],
+      "grasp(glass_door_handle)": [
+        "pull(glass_door_handle,open)"
+      ],
+      "pull(glass_door_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_21915.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_22658",
+    "actions_list": [
+      "move_to(none, box_cover)",
+      "grasp(box_cover)",
+      "turn(box_cover,up,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, box_cover)": [
+        "grasp(box_cover)"
+      ],
+      "grasp(box_cover)": [
+        "turn(box_cover,up,close)"
+      ],
+      "turn(box_cover,up,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_22658.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_25379",
+    "actions_list": [
+      "move_to(none, sandwich_maker)",
+      "grasp(sandwich_maker)",
+      "turn(sandwich_maker,anticlockwise,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, sandwich_maker)": [
+        "grasp(sandwich_maker)"
+      ],
+      "grasp(sandwich_maker)": [
+        "turn(sandwich_maker,anticlockwise,close)"
+      ],
+      "turn(sandwich_maker,anticlockwise,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_25379.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_26833",
+    "actions_list": [
+      "move_to(none,tap_nozzle)",
+      "grasp(none,tap_nozzle)",
+      "push(tap_nozzle, right)"
+    ],
+    "gt_dag": {
+      "move_to(none,tap_nozzle)": [
+        "grasp(none,tap_nozzle)"
+      ],
+      "grasp(none,tap_nozzle)": [
+        "push(tap_nozzle, right)"
+      ],
+      "push(tap_nozzle, right)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_26833.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_27076",
+    "actions_list": [
+      "move_to(none, toaster)",
+      "grasp(toaster)",
+      "oush(toaster,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, toaster)": [
+        "grasp(toaster)"
+      ],
+      "grasp(toaster)": [
+        "oush(toaster,close)"
+      ],
+      "oush(toaster,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_27076.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_32014",
+    "actions_list": [
+      "move_to(none,drawer)",
+      "grasp(drawer)",
+      "push(drawer,close)",
+      "move_to(none, tape)",
+      "grasp(tape)",
+      "pick_up(tape)",
+      "move_to(tape, drawer_handle)"
+    ],
+    "gt_dag": {
+      "move_to(none,drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": [
+        "move_to(none, tape)"
+      ],
+      "move_to(none, tape)": [
+        "grasp(tape)"
+      ],
+      "grasp(tape)": [
+        "pick_up(tape)"
+      ],
+      "pick_up(tape)": [
+        "move_to(tape, drawer_handle)"
+      ],
+      "move_to(tape, drawer_handle)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_32014.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_32869",
+    "actions_list": [
+      "move_to(none, bin)",
+      "grasp(lid_of_the_bin)",
+      "push(lid_of_the_bin,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, bin)": [
+        "grasp(lid_of_the_bin)"
+      ],
+      "grasp(lid_of_the_bin)": [
+        "push(lid_of_the_bin,close)"
+      ],
+      "push(lid_of_the_bin,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_32869.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_33042",
+    "actions_list": [
+      "move_to(none, tap)",
+      "grasp(tap)",
+      "turn(tap,clockwise,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, tap)": [
+        "grasp(tap)"
+      ],
+      "grasp(tap)": [
+        "turn(tap,clockwise,close)"
+      ],
+      "turn(tap,clockwise,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_33042.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_33747",
+    "actions_list": [
+      "move_to(coffee_maker_lid)",
+      "grasp(coffee_maker_lid)",
+      "pull(coffee_maker_lid, close)"
+    ],
+    "gt_dag": {
+      "move_to(coffee_maker_lid)": [
+        "grasp(coffee_maker_lid)"
+      ],
+      "grasp(coffee_maker_lid)": [
+        "pull(coffee_maker_lid, close)"
+      ],
+      "pull(coffee_maker_lid, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_33747.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_34956",
+    "actions_list": [
+      "move_to(none, cabinet_door_handle)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door_handle, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door_handle)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door_handle, close)"
+      ],
+      "push(cabinet_door_handle, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_34956.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_36433",
+    "actions_list": [
+      "move_to(none, extension_cord)",
+      "grasp(power_button)",
+      "press(power_button)"
+    ],
+    "gt_dag": {
+      "move_to(none, extension_cord)": [
+        "grasp(power_button)"
+      ],
+      "grasp(power_button)": [
+        "press(power_button)"
+      ],
+      "press(power_button)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_36433.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_36998",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_handle,close)"
+      ],
+      "push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_36998.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_38199",
+    "actions_list": [
+      "move_to(none, faucet)",
+      "grasp(faucet)",
+      "turn(faucet,anticlockwise,right)",
+      "grasp(faucet_handle)",
+      "push(faucet_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet)": [
+        "grasp(faucet)"
+      ],
+      "grasp(faucet)": [
+        "turn(faucet,anticlockwise,right)"
+      ],
+      "turn(faucet,anticlockwise,right)": [
+        "grasp(faucet_handle)"
+      ],
+      "grasp(faucet_handle)": [
+        "push(faucet_handle,open)"
+      ],
+      "push(faucet_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_38199.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_39556",
+    "actions_list": [
+      "move_to(none, closet_door)",
+      "grasp(door)",
+      "push(door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, closet_door)": [
+        "grasp(door)"
+      ],
+      "grasp(door)": [
+        "push(door,close)"
+      ],
+      "push(door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_39556.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_40435",
+    "actions_list": [
+      "move_to(none, handle_of_the_drawer)",
+      "grasp(handle_of_the_drawer)",
+      "pull(handle_of_the_drawer, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, handle_of_the_drawer)": [
+        "grasp(handle_of_the_drawer)"
+      ],
+      "grasp(handle_of_the_drawer)": [
+        "pull(handle_of_the_drawer, open)"
+      ],
+      "pull(handle_of_the_drawer, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_40435.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_42094",
+    "actions_list": [
+      "move_to(none, door)",
+      "grasp(door_handle)",
+      "pull(door_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, door)": [
+        "grasp(door_handle)"
+      ],
+      "grasp(door_handle)": [
+        "pull(door_handle,open)"
+      ],
+      "pull(door_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_42094.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45051",
+    "actions_list": [
+      "move_to(none, extension_cord)",
+      "grasp(extension_cord)",
+      "press(extension_cord)"
+    ],
+    "gt_dag": {
+      "move_to(none, extension_cord)": [
+        "grasp(extension_cord)"
+      ],
+      "grasp(extension_cord)": [
+        "press(extension_cord)"
+      ],
+      "press(extension_cord)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_45051.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45231",
+    "actions_list": [
+      "move_to(none, lamp_shade)",
+      "grasp(lamp_shade)",
+      "pick_up(lamp_shade)",
+      "move_to(lamp_shade,up)"
+    ],
+    "gt_dag": {
+      "move_to(none, lamp_shade)": [
+        "grasp(lamp_shade)"
+      ],
+      "grasp(lamp_shade)": [
+        "pick_up(lamp_shade)"
+      ],
+      "pick_up(lamp_shade)": [
+        "move_to(lamp_shade,up)"
+      ],
+      "move_to(lamp_shade,up)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_45231.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45508",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_handle,close)"
+      ],
+      "push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_45508.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_46821",
+    "actions_list": [
+      "move_to(none, panini_press_handle)",
+      "grasp(handle_of_the_panini_press)",
+      "turn(panini_press_lid,anticlockwise,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, panini_press_handle)": [
+        "grasp(handle_of_the_panini_press)"
+      ],
+      "grasp(handle_of_the_panini_press)": [
+        "turn(panini_press_lid,anticlockwise,close)"
+      ],
+      "turn(panini_press_lid,anticlockwise,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_46821.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_47937",
+    "actions_list": [
+      "move_to(none, box)",
+      "grasp(box)",
+      "press(box)"
+    ],
+    "gt_dag": {
+      "move_to(none, box)": [
+        "grasp(box)"
+      ],
+      "grasp(box)": [
+        "press(box)"
+      ],
+      "press(box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_47937.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_48464",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer)",
+      "pull(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "pull(drawer,close)"
+      ],
+      "pull(drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_48464.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_50530",
+    "actions_list": [
+      "move_to(none, faucet)",
+      "grasp(faucet)",
+      "turn(faucet, clockwise,In_the_middle_of the_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet)": [
+        "grasp(faucet)"
+      ],
+      "grasp(faucet)": [
+        "turn(faucet, clockwise,In_the_middle_of the_sink)"
+      ],
+      "turn(faucet, clockwise,In_the_middle_of the_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_50530.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_50946",
+    "actions_list": [
+      "move_to(none, washing_machine)",
+      "grasp(handle_of_the_washing_machine_door)",
+      "push(washing_machine_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, washing_machine)": [
+        "grasp(handle_of_the_washing_machine_door)"
+      ],
+      "grasp(handle_of_the_washing_machine_door)": [
+        "push(washing_machine_door,open)"
+      ],
+      "push(washing_machine_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_50946.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_53400",
+    "actions_list": [
+      "move_to(none, bin_lid)",
+      "grasp(bin_lid)",
+      "turn(bin_lid,up,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, bin_lid)": [
+        "grasp(bin_lid)"
+      ],
+      "grasp(bin_lid)": [
+        "turn(bin_lid,up,open)"
+      ],
+      "turn(bin_lid,up,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_53400.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_53964",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer)",
+      "push(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_53964.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_55496",
+    "actions_list": [
+      "move_to(none, handle_of_the_shower_door)",
+      "grasp(handle_of_the_shower_door)",
+      "push (shower_door, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, handle_of_the_shower_door)": [
+        "grasp(handle_of_the_shower_door)"
+      ],
+      "grasp(handle_of_the_shower_door)": [
+        "push (shower_door, close)"
+      ],
+      "push (shower_door, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_55496.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_56616",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer)",
+      "push(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_56616.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57091",
+    "actions_list": [
+      "move_to(none,bottom_drawer)",
+      "grasp(bottom_drawer)",
+      "push(bottom_drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none,bottom_drawer)": [
+        "grasp(bottom_drawer)"
+      ],
+      "grasp(bottom_drawer)": [
+        "push(bottom_drawer,close)"
+      ],
+      "push(bottom_drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_57091.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57108",
+    "actions_list": [
+      "move_to(none, shower_door_handle)",
+      "grasp(shower_door_handle)",
+      "pull(shower_door_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, shower_door_handle)": [
+        "grasp(shower_door_handle)"
+      ],
+      "grasp(shower_door_handle)": [
+        "pull(shower_door_handle,open)"
+      ],
+      "pull(shower_door_handle,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_57108.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57256",
+    "actions_list": [
+      "move_to(none, faucet)",
+      "grasp(faucet_handle)",
+      "turn(faucet_handle,up,close)",
+      "grasp(faucet)",
+      "turn(faucet,anticlockwise,In_the middle_of_the_pool)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet)": [
+        "grasp(faucet_handle)"
+      ],
+      "grasp(faucet_handle)": [
+        "turn(faucet_handle,up,close)"
+      ],
+      "turn(faucet_handle,up,close)": [
+        "grasp(faucet)"
+      ],
+      "grasp(faucet)": [
+        "turn(faucet,anticlockwise,In_the middle_of_the_pool)"
+      ],
+      "turn(faucet,anticlockwise,In_the middle_of_the_pool)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_57256.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57983",
+    "actions_list": [
+      "move_to(none, microwave_handle)",
+      "grasp(microwave_handle)",
+      "pull(microwave_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_handle)": [
+        "grasp(microwave_handle)"
+      ],
+      "grasp(microwave_handle)": [
+        "pull(microwave_door,open)"
+      ],
+      "pull(microwave_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_57983.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_60618",
+    "actions_list": [
+      "move_to(none, box_lid)",
+      "grasp(box_lid)",
+      "push(box_lid,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, box_lid)": [
+        "grasp(box_lid)"
+      ],
+      "grasp(box_lid)": [
+        "push(box_lid,close)"
+      ],
+      "push(box_lid,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_60618.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_62133",
+    "actions_list": [
+      "move_to(none, switch)",
+      "grasp(switch)",
+      "press(switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, switch)": [
+        "grasp(switch)"
+      ],
+      "grasp(switch)": [
+        "press(switch)"
+      ],
+      "press(switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_62133.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_64070",
+    "actions_list": [
+      "move_to(none, door_handle)",
+      "grasp(door_handle)",
+      "push(door_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, door_handle)": [
+        "grasp(door_handle)"
+      ],
+      "grasp(door_handle)": [
+        "push(door_handle,close)"
+      ],
+      "push(door_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_64070.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_64119",
+    "actions_list": [
+      "move_to(none, microwave_door)",
+      "grasp(microwave_door)",
+      "pull(microwave_door, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_door)": [
+        "grasp(microwave_door)"
+      ],
+      "grasp(microwave_door)": [
+        "pull(microwave_door, open)"
+      ],
+      "pull(microwave_door, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_64119.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_65294",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door)",
+      "pull(drawer, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(cabinet_door)"
+      ],
+      "grasp(cabinet_door)": [
+        "pull(drawer, open)"
+      ],
+      "pull(drawer, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_65294.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_66192",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_66192.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_68482",
+    "actions_list": [
+      "move_to(none, bottom_drawer)",
+      "grasp(bottom_drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottom_drawer)": [
+        "grasp(bottom_drawer_handle)"
+      ],
+      "grasp(bottom_drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_68482.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_70623",
+    "actions_list": [
+      "move_to(none, washing_machine)",
+      "grasp(washing_machine_door)",
+      "pull(washing_machine_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, washing_machine)": [
+        "grasp(washing_machine_door)"
+      ],
+      "grasp(washing_machine_door)": [
+        "pull(washing_machine_door,open)"
+      ],
+      "pull(washing_machine_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_70623.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_73235",
+    "actions_list": [
+      "move_to(none, light_switch)",
+      "grasp(light_switch)",
+      "press(light_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, light_switch)": [
+        "grasp(light_switch)"
+      ],
+      "grasp(light_switch)": [
+        "press(light_switch)"
+      ],
+      "press(light_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_73235.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74064",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door)",
+      "push(cabinet_door, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(cabinet_door)"
+      ],
+      "grasp(cabinet_door)": [
+        "push(cabinet_door, close)"
+      ],
+      "push(cabinet_door, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_74064.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74359",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door)",
+      "push(cabinet_door, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(cabinet_door)"
+      ],
+      "grasp(cabinet_door)": [
+        "push(cabinet_door, close)"
+      ],
+      "push(cabinet_door, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_74359.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74789",
+    "actions_list": [
+      "move_to(none, container)",
+      "grasp(container_lid_handle)",
+      "push(container_lid, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, container)": [
+        "grasp(container_lid_handle)"
+      ],
+      "grasp(container_lid_handle)": [
+        "push(container_lid, open)"
+      ],
+      "push(container_lid, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_74789.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_75168",
+    "actions_list": [
+      "move_to(none, light_switch)",
+      "grasp(light_switch)",
+      "press(light_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, light_switch)": [
+        "grasp(light_switch)"
+      ],
+      "grasp(light_switch)": [
+        "press(light_switch)"
+      ],
+      "press(light_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_75168.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_79511",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door_handle)",
+      "pull(cabinet_door, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "pull(cabinet_door, open)"
+      ],
+      "pull(cabinet_door, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_79511.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_80319",
+    "actions_list": [
+      "move_to(none, faucet)",
+      "move_to(none, faucet_handle)",
+      "grasp(faucet_handle)",
+      "turn(faucet, left)",
+      "place(faucet_handle, none)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet)": [
+        "move_to(none, faucet_handle)"
+      ],
+      "move_to(none, faucet_handle)": [
+        "grasp(faucet_handle)"
+      ],
+      "grasp(faucet_handle)": [
+        "turn(faucet, left)"
+      ],
+      "turn(faucet, left)": [
+        "place(faucet_handle, none)"
+      ],
+      "place(faucet_handle, none)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_80319.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_83037",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_83037.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_83065",
+    "actions_list": [
+      "move_to(none, stapler)",
+      "grasp(stapler)",
+      "press(light_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, stapler)": [
+        "grasp(stapler)"
+      ],
+      "grasp(stapler)": [
+        "press(light_switch)"
+      ],
+      "press(light_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_83065.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_84221",
+    "actions_list": [
+      "move_to(none, shower_door)",
+      "grasp(shower_door_handle)",
+      "pull(shower_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, shower_door)": [
+        "grasp(shower_door_handle)"
+      ],
+      "grasp(shower_door_handle)": [
+        "pull(shower_door,open)"
+      ],
+      "pull(shower_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_84221.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_84689",
+    "actions_list": [
+      "move_to(none, light_switch)",
+      "grasp(light_switch)",
+      "press(light_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, light_switch)": [
+        "grasp(light_switch)"
+      ],
+      "grasp(light_switch)": [
+        "press(light_switch)"
+      ],
+      "press(light_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_84689.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86116",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_86116.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86242",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door,close)"
+      ],
+      "push(cabinet_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_86242.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86316",
+    "actions_list": [
+      "move_to(none, faucet_spout)",
+      "grasp(faucet_spout)",
+      "turn(faucet_spout, clockwise,left)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet_spout)": [
+        "grasp(faucet_spout)"
+      ],
+      "grasp(faucet_spout)": [
+        "turn(faucet_spout, clockwise,left)"
+      ],
+      "turn(faucet_spout, clockwise,left)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_86316.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86978",
+    "actions_list": [
+      "move_to(none, sandwich_maker)",
+      "grasp(sandwich_maker_handle)",
+      "pull(grill_sandwich_maker,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, sandwich_maker)": [
+        "grasp(sandwich_maker_handle)"
+      ],
+      "grasp(sandwich_maker_handle)": [
+        "pull(grill_sandwich_maker,open)"
+      ],
+      "pull(grill_sandwich_maker,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_86978.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_87939",
+    "actions_list": [
+      "move_to(none, middle_storage_box)",
+      "grasp(middle_storage_box)",
+      "pull(middle_storage_box,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, middle_storage_box)": [
+        "grasp(middle_storage_box)"
+      ],
+      "grasp(middle_storage_box)": [
+        "pull(middle_storage_box,open)"
+      ],
+      "pull(middle_storage_box,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_87939.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_90757",
+    "actions_list": [
+      "move_to(none, door_of_the_washing_machine)",
+      "grasp( door_of_the_washing_machine)",
+      "push(door_of_the_washing_machine, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, door_of_the_washing_machine)": [
+        "grasp( door_of_the_washing_machine)"
+      ],
+      "grasp( door_of_the_washing_machine)": [
+        "push(door_of_the_washing_machine, close)"
+      ],
+      "push(door_of_the_washing_machine, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_90757.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_91540",
+    "actions_list": [
+      "move_to(none, faucet_nozzle)",
+      "grasp(faucet_nozzle)",
+      "turn(faucet_nozzle, left, middle_of_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet_nozzle)": [
+        "grasp(faucet_nozzle)"
+      ],
+      "grasp(faucet_nozzle)": [
+        "turn(faucet_nozzle, left, middle_of_sink)"
+      ],
+      "turn(faucet_nozzle, left, middle_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_articulated_images_rtx_frames__new_85_85_droid#episode_91540.png"
+  }
+]
\ No newline at end of file
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+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-26_episode-1_rgbd-1_Q1",
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+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer),3-push(drawer, to_the_cabinet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-26_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
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+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-26_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
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+  {
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+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a water tap> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tap),2-grasp(tap),3-turn(tap, anticlockwise,Until_it forms_a_right_angle)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-105_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a water tap> as the goal, steps so far are shown in the video, is step 1-move_to(none, tap) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-46_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Clockwise rotation> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, steering_wheel),2-grasp(steering_wheel),3-turn(steering_wheel, clockwise,90_degrees)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-46_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Clockwise rotation> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(steering_wheel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-46_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Clockwise rotation> as the goal, steps so far are shown in the video, is step 1-move_to(none, steering_wheel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-77_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a microwave door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-26_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-26_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-26_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-28_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-pull(drawer,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-28_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-28_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-76_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door),2-grasp(microwave_door_handle),3-push(microwave_door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-76_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a microwave door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(microwave_door_handle, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-76_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a microwave door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-21_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn off a desk lamp> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, lamp_switch),2-grasp(lamp_switch),3-press(lamp_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-21_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn off a desk lamp> as the goal, steps so far are shown in the video, is step 1-move_to(none, lamp_switch) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-28_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-pull(drawer_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-28_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-26_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-26_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-46_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotate a steering wheel 90 degrees clockwise> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, steering_wheel),2-grasp(steering_wheel),3-turn(steering_wheel, clockwise,90_degrees)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-46_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotate a steering wheel 90 degrees clockwise> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(steering_wheel, clockwise, 90_degrees)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-46_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotate a steering wheel 90 degrees clockwise> as the goal, steps so far are shown in the video, is step 1-move_to(none, steering_wheel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-77_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a microwave door> as the goal, steps so far are shown in the video, is step 1-move_to(none, microwave) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-68_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a sliding window> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, window),2-grasp(window_handle),3-push(window_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-68_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a sliding window> as the goal, steps so far are shown in the video, is step 1-move_to(none, window) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-15_task-27_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-pull(drawer_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-15_task-27_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(drawer_handle, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-15_task-27_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-16_task-20_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a desk lamp> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, lamp),2-grasp(lamp_button),3-press(lamp_button)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-20_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a desk lamp> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, lamp),2-grasp(power_button),3-press(power_button)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-20_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a desk lamp> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(power_button)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-20_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a desk lamp> as the goal, steps so far are shown in the video, is step 1-move_to(none, lamp) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-65_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a small sliding window> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, window),2-grasp(window_handle),3-pull(window,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-65_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a small sliding window> as the goal, steps so far are shown in the video, is step 1-move_to(none, window) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-40_task-24_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-pull(drawer_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-40_task-39_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Rotate the steering wheel clockwise> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, steering_wheel),2-grasp(steering_wheel),3-turn(steering_wheel, clockwise,90_degrees)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-40_task-39_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Rotate the steering wheel clockwise> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(steering_wheel, clockwise, 90_degrees)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-40_task-39_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Rotate the steering wheel clockwise> as the goal, steps so far are shown in the video, is step 1-move_to(none, steering_wheel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-43_task-23_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-47_task-60_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a sliding window> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, window),2-grasp(handle_of_the_window),3-push(handle_of_the_window,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-47_task-60_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a sliding window> as the goal, steps so far are shown in the video, is step 1-move_to(none, window) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-67_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door_handle),2-grasp(microwave_door_handle),3-push(microwave_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-67_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a microwave door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(microwave_door, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-67_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a microwave door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-70_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold the leg of a pair of glasses> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, glasses),2-grasp(glasses),3-unfold(glasses, unfold),4-place(glasses,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-70_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold the leg of a pair of glasses> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-unfold(glasses, unfold)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-70_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold the leg of a pair of glasses> as the goal, steps so far are shown in the video, is step 2-grasp(glasses) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-60_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a sliding window> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, sliding_window),2-grasp(sliding_window),3-push(sliding_window,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-60_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a sliding window> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(sliding_window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-60_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a sliding window> as the goal, steps so far are shown in the video, is step 1-move_to(none, sliding_window) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-68_task-24_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn off a power strip> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,plug),2-press(power, button)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-68_task-44_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotate a steering wheel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, steering_wheel),2-grasp(steering_wheel),3-turn(steering_wheel, clockwise,90_degrees)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-68_task-44_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotate a steering wheel> as the goal, steps so far are shown in the video, is step 1-move_to(none, steering_wheel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-23_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a power strip> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,plug),2-press(power, button)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-73_task-69_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door_handle),2-grasp(microwave_door_handle),3-pull(microwave_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-20_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a desk lamp> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, lamp_switch),2-grasp(lamp_switch),3-press(lamp_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-20_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a desk lamp> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(lamp_switch)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-20_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on a desk lamp> as the goal, steps so far are shown in the video, is step 1-move_to(none, lamp_switch) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10457_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a low fridge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, fridge_door),2-grasp(fridge_handle),3-pull(fridge_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10457_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a low fridge> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(fridge_door, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10457_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a low fridge> as the goal, steps so far are shown in the video, is step 1-move_to(none, fridge_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12463_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, oven_door_handle),2-grasp(oven_door_handle),3-push(oven_door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12463_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, steps so far are shown in the video, is step 2-grasp(oven_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16570_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave),2-grasp(microwave_door),3-pull(microwave_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16570_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, steps so far are shown in the video, is step 1-move_to(none, microwave) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20124_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door_handle),2-grasp(microwave_door_handle),3-push(microwave_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20124_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5636_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave oven> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave),2-grasp(microwave_door),3-pull(microwave_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5636_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave oven> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(microwave_door, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5636_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave oven> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7036_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a refrigerator> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, refrigerator_handle),2-grasp(refrigerator_handle),3-pull(refrigerator_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7036_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a refrigerator> as the goal, steps so far are shown in the video, is step 1-move_to(none, refrigerator_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7483_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, oven_door),2-grasp(oven_door),3-push(oven_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7483_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(oven_door, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7483_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, steps so far are shown in the video, is step 2-grasp(oven_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11641_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_handle),2-grasp(microwave_handle),3-push(microwave_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11641_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(microwave_handle, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11641_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12209_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a fridge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, fridge_handle),2-grasp(fridge_handle),3-pull(fridge_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12209_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a fridge> as the goal, steps so far are shown in the video, is step 1-move_to(none, fridge_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_14955_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave),2-grasp(microwave_door),3-pull(microwave_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_14955_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_17326_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,oven_door),2-grasp(oven_door),3-push(oven_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_17326_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, steps so far are shown in the video, is step 1-move_to(none, oven_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_19979_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(handle_of_the_drawer),3-push(handle_of_the_drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_19979_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 2-grasp(handle_of_the_drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_20559_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-pull(drawer_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_20559_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_21977_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a fridge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, fridge_handle),2-grasp(fridge_handle),3-pull(fridge_handler,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_21977_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a fridge> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(fridge_handler, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_21977_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a fridge> as the goal, steps so far are shown in the video, is step 1-move_to(none, fridge_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24780_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a refrigerator> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, refrigerator_handle),2-grasp(refrigerator_handle),3-pull(refrigerator_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24780_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a refrigerator> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(refrigerator_handle, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24780_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a refrigerator> as the goal, steps so far are shown in the video, is step 1-move_to(none, refrigerator_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_3299_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening an ice cream freezer> as the goal, steps so far are shown in the video, is step 2-grasp(freezer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_30505_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_handle),2-grasp(microwave_handle),3-pull(microwave_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_30505_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34585_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening an ice cream freezer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, freezer_handle),2-grasp(freezer_handle),3-pull(freezer_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34585_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening an ice cream freezer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(freezer_handle, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34585_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening an ice cream freezer> as the goal, steps so far are shown in the video, is step 1-move_to(none, freezer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3609_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a refrigerator> as the goal, steps so far are shown in the video, is step 2-grasp(refrigerator_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3773_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, refrigerator_door),2-grasp(refrigerator_door),3-push(refrigerator_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3773_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(refrigerator_door, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3773_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, steps so far are shown in the video, is step 2-grasp(refrigerator_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3841_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a low fridge door> as the goal, steps so far are shown in the video, is step 2-grasp(fridge_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40808_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, refrigerator_door_handle),2-grasp(refrigerator_door_handle),3-push(refrigerator_door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40808_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, steps so far are shown in the video, is step 1-move_to(none, refrigerator_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_44189_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave),2-grasp(microwave_door),3-push(microwave_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_44189_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, steps so far are shown in the video, is step 1-move_to(none, microwave) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48176_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a microwave> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave),2-grasp(none, handle),3-pull(handle, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48176_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a microwave> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(none, handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48176_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a microwave> as the goal, steps so far are shown in the video, is step 1-move_to(none, microwave) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52899_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, refrigerator_door_handle),2-grasp(refrigerator_door_handle),3-push(refrigerator_door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52899_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, steps so far are shown in the video, is step 1-move_to(none, refrigerator_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8256_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-pull(drawer_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8256_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_111_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_111_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(drawer_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_111_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_133_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_133_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_137_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a sliding door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-push(door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_137_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a sliding door> as the goal, steps so far are shown in the video, is step 1-move_to(none, door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1088_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door),2-grasp(door_handle),3-pull(door_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1088_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a door> as the goal, steps so far are shown in the video, is step 1-move_to(none, door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1129_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door_handle),2-grasp(cabinet_door_handle),3-push(cabinet_door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1404_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning on a rice cooker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, rice_cooker),2-grasp(power_button),3-press(power_button)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1451_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, refrigerator_door),2-grasp(handle_of_the_refrigerator_door),3-push(handle_of_the_refrigerator_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1451_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a refrigerator door> as the goal, steps so far are shown in the video, is step 1-move_to(none, refrigerator_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1515_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(handle_of_the_cabinet_door),3-pull(handle_of_the_cabinet_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1515_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(handle_of_the_cabinet_door, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1515_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, steps so far are shown in the video, is step 2-grasp(handle_of_the_cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1540_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet),2-grasp(cabinet_door),3-push(cabinet_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1540_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(cabinet_door, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1540_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, steps so far are shown in the video, is step 2-grasp(cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1579_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(handle_of_the_cabinet_door),3-pull((handle_of_the_cabinet_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_22_55_dobbe#episode_1898_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a sliding door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, handle_of_the_sliding_door),2-grasp(handle_of_the_sliding_door),3-push(handle_of_the_sliding_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_22_55_dobbe#episode_1898_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a sliding door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(handle_of_the_sliding_door, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_22_55_dobbe#episode_1898_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a sliding door> as the goal, steps so far are shown in the video, is step 2-grasp(handle_of_the_sliding_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2534_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(handle),3-pull(drawer,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2667_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, open_drawer),2-grasp(drawer),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2667_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2667_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2789_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2789_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2825_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door_handles),2-grasp(handles_of_the_cabinet_door),3-pull(handles_of_the_cabinet_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2825_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_door_handles) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2842_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a double door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door_handles),2-grasp(door_handles),3-pull(door_handles, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2842_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a double door> as the goal, steps so far are shown in the video, is step 1-move_to(none, door_handles) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_3148_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer),3-pull(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_3148_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3467_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a refrigerator door> as the goal, steps so far are shown in the video, is step 2-grasp(refrigerator_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3486_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3486_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3695_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a desk drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-pull(drawer_handle, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3695_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a desk drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3723_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door_handle),2-grasp(cabinet_door_handle),3-push(cabinet_door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3746_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening an oven door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, oven_door),2-grasp(oven_door_handle),3-pull(oven_door_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3746_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening an oven door> as the goal, steps so far are shown in the video, is step 1-move_to(none, oven_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3990_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-pull(drawer_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3990_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(drawer_handle, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3990_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4034_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a dishwasher door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, dishwasher_door),2-grasp(handle_of_the_dishwasher),3-pull(handle_of_the_dishwasher,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4034_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a dishwasher door> as the goal, steps so far are shown in the video, is step 1-move_to(none, dishwasher_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4430_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(handle_of_the_cabinet_door),3-pull(handle_of_the_cabinet_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4544_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <switching a light switch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, light_switch),2-grasp(light_switch),3-press(light_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4942_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <switching a light switch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, light_switch),2-grasp(light_switch),3-press(light_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_553_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(handle),3-pull(handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_553_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_741_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a double door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door_handles),2-grasp(door_handles),3-push(door_handles,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_741_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a double door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(door_handles, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_741_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a double door> as the goal, steps so far are shown in the video, is step 2-grasp(door_handles) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_882_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <switching a light switch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, light_switch),2-grasp(light_switch),3-press(light_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_94_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_handle),2-grasp(handle),3-pull(handle, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_94_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_292_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door_handles),2-grasp(cabinet_door_handles),3-pull(cabinet_door_handles,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_292_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cabinet_door_handles)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rt_frames_success_rtx_frames_success_1_25_nyu_door_opening_surprising_effectiveness#episode_292_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_door_handles) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_6758_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the middle cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, middle_cabinet_door),2-grasp(middle_cabinet_door),3-pull(middle_cabinet_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_6758_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the middle cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(middle_cabinet_door, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_6758_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the middle cabinet door> as the goal, steps so far are shown in the video, is step 2-grasp(middle_cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_8623_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning off a toaster> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, toaster),2-grasp(lever),3-press(lever)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_8623_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning off a toaster> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(lever)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_8623_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning off a toaster> as the goal, steps so far are shown in the video, is step 1-move_to(none, toaster) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_8885_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a sandwich maker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, handle_of_the_sandwich_maker),2-grasp(handle_of_the_sandwich_maker),3-pull(handle_of_the_sandwich_maker,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_8885_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open a sandwich maker> as the goal, steps so far are shown in the video, is step 1-move_to(none, handle_of_the_sandwich_maker) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_9040_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close and reopen a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, lid_handle),2-grasp(lid_handle),3-press(lid_handle),4-grasp(lid_handle),5-turn(lid_handle,up,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_9040_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close and reopen a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-press(lid_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_9040_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close and reopen a lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, lid_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_10329_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer),3-push(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_11272_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close and open a coffee maker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, coffee_machine_handle),2-grasp(coffee_maker),3-press(coffee_machine_handle),4-grasp(coffee_maker),5-turn(coffee_machine_handle,up,close),6-press(coffee_machine_handle),7-grasp(coffee_maker),8-turn(coffee_machine_handle,up,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_11272_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close and open a coffee maker> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-turn(coffee_machine_handle, up, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_11272_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close and open a coffee maker> as the goal, steps so far are shown in the video, is step 1-move_to(none, coffee_machine_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_11629_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the top drawer of a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,handle_of_the_top_drawer),2-grasp(handle_of_the_top_drawer),3-pull(handle_of_the_top_drawer,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_15221_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a mini oven> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, mini_oven),2-grasp(handle_of_the_mini_oven),3-push(mini_oven,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_15221_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a mini oven> as the goal, steps so far are shown in the video, is step 2-grasp(handle_of_the_mini_oven) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_15913_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a briefcase> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, briefcase),2-grasp(handle_of_the_briefcase),3-turn(briefcase,up,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_17849_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning a tap to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tap),2-grasp(tap_handle),3-turn(tap_handle, anticlockwise,right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19022_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a shower door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, shower_door_handle),2-grasp(shower_door_handle),3-pull(shower_door_handle, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19554_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,cabinet_door_handle),2-grasp(cabinet_door_handle),3-push(cabinet_door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19554_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, steps so far are shown in the video, is step 2-grasp(cabinet_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19847_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_handle),2-grasp(cabinet_handle),3-pull(cabinet_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19960_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Close the middle drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(door_of_the_middle_drawer, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_19960_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Close the middle drawer> as the goal, steps so far are shown in the video, is step 2-grasp(door_of_the_middle_drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_21915_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a glass door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, glass_door_handle),2-grasp(glass_door_handle),3-pull(glass_door_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_22658_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a pack of bottles> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, box_cover),2-grasp(box_cover),3-turn(box_cover,up,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_25379_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a sandwich maker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, sandwich_maker),2-grasp(sandwich_maker),3-turn(sandwich_maker,anticlockwise,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_25379_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a sandwich maker> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(sandwich_maker)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_25379_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a sandwich maker> as the goal, steps so far are shown in the video, is step 1-move_to(none, sandwich_maker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_26833_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn the tap nozzle to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,tap_nozzle),2-grasp(none,tap_nozzle),3-push(tap_nozzle, right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_27076_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the toaster> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, toaster),2-grasp(toaster),3-push(toaster,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_32014_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer and hanging tape on its handle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,drawer),2-grasp(drawer),3-push(drawer,close),4-move_to(none, tape),5-grasp(tape),6-pick_up(tape),7-move_to(tape, drawer_handle)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_32014_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer and hanging tape on its handle> as the goal, steps so far are shown in the video, is step 2-grasp(drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_32869_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the lid of a small bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, bin),2-grasp(lid_of_the_bin),3-push(lid_of_the_bin,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_33042_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a running tap> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tap),2-grasp(tap),3-turn(tap,clockwise,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_33042_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a running tap> as the goal, steps so far are shown in the video, is step 1-move_to(none, tap) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_33747_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the coffee maker lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(coffee_maker_lid),2-grasp(coffee_maker_lid),3-pull(coffee_maker_lid, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_33747_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the coffee maker lid> as the goal, steps so far are shown in the video, is step 1-move_to(coffee_maker_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_34956_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door_handle),2-grasp(cabinet_door_handle),3-push(cabinet_door_handle, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_34956_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cabinet_door_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_34956_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_36433_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <switching off an outlet on an extension cord> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, extension_cord),2-grasp(power_button),3-press(power_button)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_36433_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <switching off an outlet on an extension cord> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(power_button)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_36433_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <switching off an outlet on an extension cord> as the goal, steps so far are shown in the video, is step 1-move_to(none, extension_cord) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_36998_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_36998_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(drawer_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_36998_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_38199_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning on a faucet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, faucet),2-grasp(faucet),3-turn(faucet,anticlockwise,right),4-grasp(faucet_handle),5-push(faucet_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_38199_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning on a faucet> as the goal, steps so far are shown in the video, is step 2-grasp(faucet) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_39556_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a closet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, closet_door),2-grasp(door),3-push(door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_39556_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a closet door> as the goal, steps so far are shown in the video, is step 1-move_to(none, closet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_40435_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a drawer from a nightstand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, handle_of_the_drawer),2-grasp(handle_of_the_drawer),3-pull(handle_of_the_drawer, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_40435_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a drawer from a nightstand> as the goal, steps so far are shown in the video, is step 1-move_to(none, handle_of_the_drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_42094_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a glass door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door),2-grasp(door_handle),3-pull(door_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_42094_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a glass door> as the goal, steps so far are shown in the video, is step 1-move_to(none, door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45051_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flick a switch on an extension cord> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, extension_cord),2-press(extension_cord)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45231_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <adjusting a lamp upwards> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, lamp_shade),2-grasp(lamp_shade),3-pick_up(lamp_shade),4-move_to(lamp_shade,up)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45231_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <adjusting a lamp upwards> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(lamp_shade)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45231_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <adjusting a lamp upwards> as the goal, steps so far are shown in the video, is step 2-grasp(lamp_shade) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45508_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a desk drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45508_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a desk drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(drawer_handle, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_45508_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a desk drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_46821_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a panini press> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, panini_press_handle),2-grasp(handle_of_the_panini_press),3-turn(panini_press_lid,anticlockwise,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_46821_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a panini press> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(panini_press_lid, anticlockwise, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_46821_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a panini press> as the goal, steps so far are shown in the video, is step 1-move_to(none, panini_press_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_47937_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a partially opened box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, box),2-grasp(box),3-press(box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_47937_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a partially opened box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_47937_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a partially opened box> as the goal, steps so far are shown in the video, is step 2-grasp(box) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_48464_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a cabinet drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer),3-pull(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_48464_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a cabinet drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(drawer, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_48464_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a cabinet drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_50530_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a faucet to the center of a sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, faucet),2-grasp(faucet),3-turn(faucet, clockwise,In_the_middle_of the_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_50530_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a faucet to the center of a sink> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(faucet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_50530_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a faucet to the center of a sink> as the goal, steps so far are shown in the video, is step 1-move_to(none, faucet) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_50946_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the washing machine door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, washing_machine),2-grasp(handle_of_the_washing_machine_door),3-push(washing_machine_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_50946_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the washing machine door> as the goal, steps so far are shown in the video, is step 1-move_to(none, washing_machine) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_53400_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, bin_lid),2-grasp(bin_lid),3-turn(bin_lid,up,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_53400_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a bin> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bin_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_53400_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a bin> as the goal, steps so far are shown in the video, is step 1-move_to(none, bin_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_53964_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer),3-push(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_55496_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a glass shower door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, handle_of_the_shower_door),2-grasp(handle_of_the_shower_door),3-push(shower_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_55496_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a glass shower door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(handle_of_the_shower_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_55496_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a glass shower door> as the goal, steps so far are shown in the video, is step 1-move_to(none, handle_of_the_shower_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_56011_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the coffee pot on the coffee maker> as the goal, steps so far are shown in the video, is step 1-move_to(none, coffee_pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_56616_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer),3-push(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57091_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the bottom drawer of a file cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,bottom_drawer),2-grasp(bottom_drawer),3-push(bottom_drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57091_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the bottom drawer of a file cabinet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bottom_drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57091_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the bottom drawer of a file cabinet> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottom_drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57108_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a glass shower door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, shower_door_handle),2-grasp(shower_door_handle),3-pull(shower_door_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57108_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a glass shower door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(shower_door_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57108_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a glass shower door> as the goal, steps so far are shown in the video, is step 1-move_to(none, shower_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57256_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the faucet and center the spout> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, faucet),2-grasp(faucet_handle),3-turn(faucet_handle,up,close),4-grasp(faucet),5-turn(faucet,anticlockwise,In_the middle_of_the_pool)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57256_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the faucet and center the spout> as the goal, steps so far are shown in the video, is step 3-turn(faucet_handle, up, close) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57983_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_handle),2-grasp(microwave_handle),3-pull(microwave_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_57983_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave door> as the goal, steps so far are shown in the video, is step 1-move_to(none, microwave_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_60618_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a box lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, box_lid),2-grasp(box_lid),3-push(box_lid,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_60618_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a box lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(box_lid, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_60618_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a box lid> as the goal, steps so far are shown in the video, is step 2-grasp(box_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_62133_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning off a switch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, switch),2-grasp(switch),3-press(switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_64070_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a glass door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-push(door_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_64070_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a glass door> as the goal, steps so far are shown in the video, is step 1-move_to(none, door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_64119_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave_door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door),2-grasp(microwave_door),3-pull(microwave_door, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_64119_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave_door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_65294_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet_door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(cabinet_door),3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_65294_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet_door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cabinet_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_65294_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet_door> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_66192_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_66222_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the top_drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, top_drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_68482_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a bottom_drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, bottom_drawer),2-grasp(bottom_drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_68482_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a bottom_drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottom_drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_70623_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a washing_machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, washing_machine),2-grasp(washing_machine_door),3-pull(washing_machine_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_73235_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning_off a light_switch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, light_switch),2-grasp(light_switch),3-press(light_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_73235_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning_off a light_switch> as the goal, steps so far are shown in the video, is step 1-move_to(none, light_switch) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74064_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the cabinet_door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(cabinet_door),3-push(cabinet_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74064_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the cabinet_door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cabinet_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74064_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the cabinet_door> as the goal, steps so far are shown in the video, is step 2-grasp(cabinet_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74359_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the cabinet_door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(cabinet_door),3-push(cabinet_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74359_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the cabinet_door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cabinet_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74359_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the cabinet_door> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74789_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the container_lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, container),2-grasp(container_lid_handle),3-push(container_lid, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74789_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the container_lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(container_lid_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_74789_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the container_lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, container) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_75168_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn_off light_switch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, light_switch),2-grasp(light_switch),3-press(light_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_79511_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the cabinet_door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(cabinet_door_handle),3-pull(cabinet_door, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_79511_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the cabinet_door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(cabinet_door, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_79511_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the cabinet_door> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_80319_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Adjust the heat of the intermediate stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, middle_of_stove),2-grasp(stove_button),3-turn(stove_button, anticlockwise, left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_80319_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Adjust the heat of the intermediate stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(stove_button)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_80319_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Adjust the heat of the intermediate stove> as the goal, steps so far are shown in the video, is step 1-move_to(none, middle_of_stove) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_83037_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_83037_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_83037_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_83065_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pressing the stapler> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, stapler),2-grasp(stapler),3-press(light_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_84221_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a shower_door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, shower_door),2-grasp(shower_door_handle),3-pull(shower_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_84221_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a shower_door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(shower_door_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_84221_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a shower_door> as the goal, steps so far are shown in the video, is step 1-move_to(none, shower_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_84689_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn_on the light_switch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, light_switch),2-grasp(light_switch),3-press(light_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86116_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86242_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet_door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(cabinet_door_handle),3-push(cabinet_door,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86242_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet_door> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86316_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sliding a faucet_spout to the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, faucet_spout),2-grasp(faucet_spout),3-turn(faucet_spout, clockwise,left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86316_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sliding a faucet_spout to the left> as the goal, steps so far are shown in the video, is step 1-move_to(none, faucet_spout) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86978_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the sandwich_maker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, sandwich_maker),2-grasp(sandwich_maker_handle),3-pull(grill_sandwich_maker,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_86978_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the sandwich_maker> as the goal, steps so far are shown in the video, is step 1-move_to(none, sandwich_maker) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_87939_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the middle_storage_box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, middle_storage_box),2-grasp(middle_storage_box),3-pull(middle_storage_box,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_87939_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the middle_storage_box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(middle_storage_box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_87939_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the middle_storage_box> as the goal, steps so far are shown in the video, is step 1-move_to(none, middle_storage_box) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_90757_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the door_of_the_washing_machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door_of_the_washing_machine),2-grasp(door_of_the_washing_machine),3-push(door_of_the_washing_machine, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_90757_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the door_of_the_washing_machine> as the goal, steps so far are shown in the video, is step 2-grasp(door_of_the_washing_machine) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_91540_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <centering the faucet_nozzle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, faucet_nozzle),2-grasp(faucet_nozzle),3-turn(faucet_nozzle, left, middle_of_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_91540_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <centering the faucet_nozzle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(faucet_nozzle, left, middle_of_sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/articulated/images/rtx_frames__new_85_85_droid#episode_91540_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "articulated"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <centering the faucet_nozzle> as the goal, steps so far are shown in the video, is step 1-move_to(none, faucet_nozzle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  }
+]
\ No newline at end of file
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-18_task-74_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, bottom_right_corner_of_paper)",
+      "grasp(bottom_right_corner_of_paper)",
+      "turn(paper, anticlockwise, overturn)",
+      "place(paper, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottom_right_corner_of_paper)": [
+        "grasp(bottom_right_corner_of_paper)"
+      ],
+      "grasp(bottom_right_corner_of_paper)": [
+        "turn(paper, anticlockwise, overturn)"
+      ],
+      "turn(paper, anticlockwise, overturn)": [
+        "place(paper, desktop)"
+      ],
+      "place(paper, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-18_task-74_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-31_task-4_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "wipe(towel, stain, tablecloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "wipe(towel, stain, tablecloth)"
+      ],
+      "wipe(towel, stain, tablecloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-31_task-4_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-51_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, toilet_paper)",
+      "grasp(toilet_paper)",
+      "pick_up(toilet_paper)",
+      "move_to(toilet_paper, toilet_paper_holder)",
+      "insert(toilet_paper, toilet_paper_holder)"
+    ],
+    "gt_dag": {
+      "move_to(none, toilet_paper)": [
+        "grasp(toilet_paper)"
+      ],
+      "grasp(toilet_paper)": [
+        "pick_up(toilet_paper)"
+      ],
+      "pick_up(toilet_paper)": [
+        "move_to(toilet_paper, toilet_paper_holder)"
+      ],
+      "move_to(toilet_paper, toilet_paper_holder)": [
+        "insert(toilet_paper, toilet_paper_holder)"
+      ],
+      "insert(toilet_paper, toilet_paper_holder)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-51_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-40_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, plastic_bag_handle)",
+      "grasp(plastic_bag_handle)",
+      "pick_up(plastic_bag)",
+      "move_to(plastic_bag,table_right)",
+      "place(plastic_bag,table_right)"
+    ],
+    "gt_dag": {
+      "move_to(none, plastic_bag_handle)": [
+        "grasp(plastic_bag_handle)"
+      ],
+      "grasp(plastic_bag_handle)": [
+        "pick_up(plastic_bag)"
+      ],
+      "pick_up(plastic_bag)": [
+        "move_to(plastic_bag,table_right)"
+      ],
+      "move_to(plastic_bag,table_right)": [
+        "place(plastic_bag,table_right)"
+      ],
+      "place(plastic_bag,table_right)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-40_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-39_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, plastic_bag_handle)",
+      "grasp(plastic_bag_handle)",
+      "pick_up(plastic_bag)",
+      "move_to(plastic_bag,table_left)",
+      "place(plastic_bag,table_left)"
+    ],
+    "gt_dag": {
+      "move_to(none, plastic_bag_handle)": [
+        "grasp(plastic_bag_handle)"
+      ],
+      "grasp(plastic_bag_handle)": [
+        "pick_up(plastic_bag)"
+      ],
+      "pick_up(plastic_bag)": [
+        "move_to(plastic_bag,table_left)"
+      ],
+      "move_to(plastic_bag,table_left)": [
+        "place(plastic_bag,table_left)"
+      ],
+      "place(plastic_bag,table_left)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-39_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_14",
+    "actions_list": [
+      "move_to(none, left_edge_of_towel)",
+      "grasp(left_edge_of_towel)",
+      "fold(left_edge_of_towel, right_edge_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_edge_of_towel)": [
+        "grasp(left_edge_of_towel)"
+      ],
+      "grasp(left_edge_of_towel)": [
+        "fold(left_edge_of_towel, right_edge_of_towel)"
+      ],
+      "fold(left_edge_of_towel, right_edge_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_DSL_shrinked_fold_towel_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_332",
+    "actions_list": [
+      "move_to(none, left_side_of_towel)",
+      "grasp(left_side_of_towel)",
+      "fold(left_side_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_side_of_towel)": [
+        "grasp(left_side_of_towel)"
+      ],
+      "grasp(left_side_of_towel)": [
+        "fold(left_side_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_side_of_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_DSL_shrinked_fold_towel_episode_332.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_1665",
+    "actions_list": [
+      "move_to(none, left_side_of_towel)",
+      "grasp(left_side_of_towel)",
+      "fold(left_side_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_side_of_towel)": [
+        "grasp(left_side_of_towel)"
+      ],
+      "grasp(left_side_of_towel)": [
+        "fold(left_side_towel, right_side_of_towel)"
+      ],
+      "fold(left_side_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_DSL_shrinked_fold_towel_episode_1665.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10343",
+    "actions_list": [
+      "move_to(none, rag)",
+      "grasp(rag)",
+      "pull(rag, edge_of_the_table)",
+      "place(rag, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, rag)": [
+        "grasp(rag)"
+      ],
+      "grasp(rag)": [
+        "pull(rag, edge_of_the_table)"
+      ],
+      "pull(rag, edge_of_the_table)": [
+        "place(rag, desktop)"
+      ],
+      "place(rag, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_2_49_bridge#episode_10343.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14682",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "move_to(towel, edge_of_the_counter)",
+      "place(towel, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "move_to(towel, edge_of_the_counter)"
+      ],
+      "move_to(towel, edge_of_the_counter)": [
+        "place(towel, counter)"
+      ],
+      "place(towel, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_5_49_bridge#episode_14682.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12419",
+    "actions_list": [
+      "move_to(none, upper_right_corner_of_cloth)",
+      "grasp(upper_right_corner_of_the_cloth)",
+      "fold(upper_right_corner_of_the_cloth, bottom_left_corner)",
+      "place(cloth, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, upper_right_corner_of_cloth)": [
+        "grasp(upper_right_corner_of_the_cloth)"
+      ],
+      "grasp(upper_right_corner_of_the_cloth)": [
+        "fold(upper_right_corner_of_the_cloth, bottom_left_corner)"
+      ],
+      "fold(upper_right_corner_of_the_cloth, bottom_left_corner)": [
+        "place(cloth, desktop)"
+      ],
+      "place(cloth, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12419.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24861",
+    "actions_list": [
+      "move_to(none, upper_right_corner_of_the_cloth)",
+      "grasp(upper_right_corner_of_the_cloth)",
+      "unfold(upper_right_corner_of_the_cloth, bottom_left_corner)"
+    ],
+    "gt_dag": {
+      "move_to(none, upper_right_corner_of_the_cloth)": [
+        "grasp(upper_right_corner_of_the_cloth)"
+      ],
+      "grasp(upper_right_corner_of_the_cloth)": [
+        "unfold(upper_right_corner_of_the_cloth, bottom_left_corner)"
+      ],
+      "unfold(upper_right_corner_of_the_cloth, bottom_left_corner)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24861.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29057",
+    "actions_list": [
+      "move_to(none, upper_left_corner_of_the_cloth)",
+      "grasp(upper_left_corner_of_the_cloth)",
+      "fold(upper_left_corner_of_the_cloth, bottom_right_corner)",
+      "place(cloth, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, upper_left_corner_of_the_cloth)": [
+        "grasp(upper_left_corner_of_the_cloth)"
+      ],
+      "grasp(upper_left_corner_of_the_cloth)": [
+        "fold(upper_left_corner_of_the_cloth, bottom_right_corner)"
+      ],
+      "fold(upper_left_corner_of_the_cloth, bottom_right_corner)": [
+        "place(cloth, desktop)"
+      ],
+      "place(cloth, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29057.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_51629",
+    "actions_list": [
+      "move_to(none, cloth_in_laundry_machine)",
+      "grasp(piece_of_cloth)",
+      "pick_up(piece_of_cloth)",
+      "move_to(cloth, basket)",
+      "place(cloth, basket)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth_in_laundry_machine)": [
+        "grasp(piece_of_cloth)"
+      ],
+      "grasp(piece_of_cloth)": [
+        "pick_up(piece_of_cloth)"
+      ],
+      "pick_up(piece_of_cloth)": [
+        "move_to(cloth, basket)"
+      ],
+      "move_to(cloth, basket)": [
+        "place(cloth, basket)"
+      ],
+      "place(cloth, basket)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_51629.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_5439",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(towel, right_of_table)",
+      "place(towel, tabletop)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, right_of_table)"
+      ],
+      "pull(towel, right_of_table)": [
+        "place(towel, tabletop)"
+      ],
+      "place(towel, tabletop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_5439.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_12800",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, holder)",
+      "place(cloth, holder)",
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, desktop)",
+      "place(cloth, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, holder)"
+      ],
+      "move_to(cloth, holder)": [
+        "place(cloth, holder)"
+      ],
+      "place(cloth, holder)": [],
+      "move_to(none, cloth)<1>": [],
+      "grasp(cloth)<1>": [],
+      "pick_up(cloth)<1>": [],
+      "move_to(cloth, desktop)": [
+        "place(cloth, desktop)"
+      ],
+      "place(cloth, desktop)": [],
+      "move_to(none, cloth)<2>": [
+        "grasp(cloth)<2>"
+      ],
+      "pick_up(cloth)<2>": [
+        "move_to(cloth, desktop)"
+      ],
+      "grasp(cloth)<2>": [
+        "pick_up(cloth)<2>"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_12800.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_13272",
+    "actions_list": [
+      "move_to(none, edge_of_towel)",
+      "grasp(edge_of_towel)",
+      "pick_up(towel)",
+      "unfold(towel, none)",
+      "move_to(towel, tabletop)",
+      "place(towel, tabletop)"
+    ],
+    "gt_dag": {
+      "move_to(none, edge_of_towel)": [
+        "grasp(edge_of_towel)"
+      ],
+      "grasp(edge_of_towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "unfold(towel, none)"
+      ],
+      "unfold(towel, none)": [
+        "move_to(towel, tabletop)"
+      ],
+      "move_to(towel, tabletop)": [
+        "place(towel, tabletop)"
+      ],
+      "place(towel, tabletop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_13272.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14417",
+    "actions_list": [
+      "move_to(none, tissue)",
+      "grasp(tissue)",
+      "pick_up(tissue)",
+      "move_to(tissue, tabletop)",
+      "place(tissue, tabletop)"
+    ],
+    "gt_dag": {
+      "move_to(none, tissue)": [
+        "grasp(tissue)"
+      ],
+      "grasp(tissue)": [
+        "pick_up(tissue)"
+      ],
+      "pick_up(tissue)": [
+        "move_to(tissue, tabletop)"
+      ],
+      "move_to(tissue, tabletop)": [
+        "place(tissue, tabletop)"
+      ],
+      "place(tissue, tabletop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_14417.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14706",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, desktop)",
+      "place(cloth, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, desktop)"
+      ],
+      "move_to(cloth, desktop)": [
+        "place(cloth, desktop)"
+      ],
+      "place(cloth, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_14706.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_16785",
+    "actions_list": [
+      "move_to(none, top_pants_leg)",
+      "grasp(top_pants_leg)",
+      "fold(pants_leg, right_of_the_pants)",
+      "move_to(none, low_pants_leg)",
+      "grasp(low_pants_leg)",
+      "fold(pants_leg, right_of_the_pants)"
+    ],
+    "gt_dag": {
+      "move_to(none, top_pants_leg)": [
+        "grasp(top_pants_leg)"
+      ],
+      "grasp(top_pants_leg)": [
+        "fold(pants_leg, right_of_the_pants)"
+      ],
+      "fold(pants_leg, right_of_the_pants)": [],
+      "move_to(none, low_pants_leg)": [
+        "grasp(low_pants_leg)"
+      ],
+      "grasp(low_pants_leg)": [
+        "fold(pants_leg, right_of_the_pants)<2>"
+      ],
+      "fold(pants_leg, right_of_the_pants)<1>": [],
+      "fold(pants_leg, right_of_the_pants)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_16785.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_17035",
+    "actions_list": [
+      "move_to(none, holder)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, desktop)",
+      "place(cloth, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, holder)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, desktop)"
+      ],
+      "move_to(cloth, desktop)": [
+        "place(cloth, desktop)"
+      ],
+      "place(cloth, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_17035.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_22489",
+    "actions_list": [
+      "move_to(none, pink_blanket)",
+      "grasp(pink_blanket)",
+      "pick_up(pink_blanket)",
+      "move_to(pink_blanket, square_pattern_blanket)",
+      "place(pink_blanket, square_pattern_blanket)"
+    ],
+    "gt_dag": {
+      "move_to(none, pink_blanket)": [
+        "grasp(pink_blanket)"
+      ],
+      "grasp(pink_blanket)": [
+        "pick_up(pink_blanket)"
+      ],
+      "pick_up(pink_blanket)": [
+        "move_to(pink_blanket, square_pattern_blanket)"
+      ],
+      "move_to(pink_blanket, square_pattern_blanket)": [
+        "place(pink_blanket, square_pattern_blanket)"
+      ],
+      "place(pink_blanket, square_pattern_blanket)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_22489.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24062",
+    "actions_list": [
+      "move_to(none, curtain)",
+      "grasp(curtain)",
+      "pull(curtain, right)"
+    ],
+    "gt_dag": {
+      "move_to(none, curtain)": [
+        "grasp(curtain)"
+      ],
+      "grasp(curtain)": [
+        "pull(curtain, right)"
+      ],
+      "pull(curtain, right)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_24062.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24790",
+    "actions_list": [
+      "move_to(none, blue_towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, plate)",
+      "wipe(towel, none, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, blue_towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, plate)"
+      ],
+      "move_to(towel, plate)": [
+        "wipe(towel, none, plate)"
+      ],
+      "wipe(towel, none, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_24790.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_31492",
+    "actions_list": [
+      "move_to(none, edge_of_pillow)",
+      "grasp(edge_of_pillow)",
+      "turn(pillow, clockwise, overturn)",
+      "move_to(none, pillow)",
+      "grasp(pillow)",
+      "pull(pillow, edge_of_bed)",
+      "place(pillow, bed)"
+    ],
+    "gt_dag": {
+      "move_to(none, edge_of_pillow)": [
+        "grasp(edge_of_pillow)"
+      ],
+      "grasp(edge_of_pillow)": [
+        "turn(pillow, clockwise, overturn)"
+      ],
+      "turn(pillow, clockwise, overturn)": [],
+      "move_to(none, pillow)": [
+        "grasp(pillow)"
+      ],
+      "grasp(pillow)": [
+        "pull(pillow, edge_of_bed)"
+      ],
+      "pull(pillow, edge_of_bed)": [
+        "place(pillow, bed)"
+      ],
+      "place(pillow, bed)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_31492.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_38503",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, desktop)",
+      "place(cloth, desktop)",
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, holder)",
+      "place(cloth, holder)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, desktop)"
+      ],
+      "move_to(cloth, desktop)": [
+        "place(cloth, desktop)"
+      ],
+      "place(cloth, desktop)": [],
+      "move_to(none, cloth)<1>": [],
+      "grasp(cloth)<1>": [],
+      "pick_up(cloth)<1>": [],
+      "move_to(cloth, holder)": [
+        "place(cloth, holder)"
+      ],
+      "place(cloth, holder)": [],
+      "move_to(none, cloth)<2>": [
+        "grasp(cloth)<2>"
+      ],
+      "grasp(cloth)<2>": [
+        "pick_up(cloth)<2>"
+      ],
+      "pick_up(cloth)<2>": [
+        "move_to(cloth, holder)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_38503.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_39344",
+    "actions_list": [
+      "move_to(none, upper_left_corner_of_the_bedsheet)",
+      "grasp(corner_of_the_bedsheet)",
+      "pull(bedsheet, upper)",
+      "move_to(none, upper_left_corner_of_the_bedsheet)",
+      "grasp(corner_of_the_bedsheet)",
+      "pull(bedsheet, left)"
+    ],
+    "gt_dag": {
+      "move_to(none, upper_left_corner_of_the_bedsheet)": [
+        "grasp(corner_of_the_bedsheet)"
+      ],
+      "grasp(corner_of_the_bedsheet)": [
+        "pull(bedsheet, upper)"
+      ],
+      "pull(bedsheet, upper)": [],
+      "move_to(none, upper_left_corner_of_the_bedsheet)<1>": [],
+      "grasp(corner_of_the_bedsheet)<1>": [],
+      "pull(bedsheet, left)": [],
+      "move_to(none, upper_left_corner_of_the_bedsheet)<2>": [
+        "grasp(corner_of_the_bedsheet)<2>"
+      ],
+      "grasp(corner_of_the_bedsheet)<2>": [
+        "pull(bedsheet, left)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_39344.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_39508",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth_left_lower_corner)",
+      "fold(cloth_left_lower_corner,cloth_right_lower_corner)",
+      "move_to(none, cloth)",
+      "grasp(cloth_left_top_corner)",
+      "fold(cloth_left_top_corner,cloth_right_top_corner)",
+      "move_to(none, cloth)",
+      "grasp(cloth_right_edge)",
+      "fold(cloth_right_edge,cloth_left_edge)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth_left_lower_corner)"
+      ],
+      "grasp(cloth_left_lower_corner)": [
+        "fold(cloth_left_lower_corner,cloth_right_lower_corner)"
+      ],
+      "fold(cloth_left_lower_corner,cloth_right_lower_corner)": [],
+      "move_to(none, cloth)<1>": [],
+      "grasp(cloth_left_top_corner)": [
+        "fold(cloth_left_top_corner,cloth_right_top_corner)"
+      ],
+      "fold(cloth_left_top_corner,cloth_right_top_corner)": [],
+      "move_to(none, cloth)<2>": [],
+      "grasp(cloth_right_edge)": [
+        "fold(cloth_right_edge,cloth_left_edge)"
+      ],
+      "fold(cloth_right_edge,cloth_left_edge)": [],
+      "move_to(none, cloth)<3>": [
+        "grasp(cloth_left_top_corner)"
+      ],
+      "move_to(none, cloth)<4>": [
+        "grasp(cloth_right_edge)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_39508.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_43935",
+    "actions_list": [
+      "move_to(none, white_cloth)",
+      "grasp(white_cloth)",
+      "pick_up(white_cloth)",
+      "move_to(cloth, open_drawer)",
+      "place(cloth, drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_cloth)": [
+        "grasp(white_cloth)"
+      ],
+      "grasp(white_cloth)": [
+        "pick_up(white_cloth)"
+      ],
+      "pick_up(white_cloth)": [
+        "move_to(cloth, open_drawer)"
+      ],
+      "move_to(cloth, open_drawer)": [
+        "place(cloth, drawer)"
+      ],
+      "place(cloth, drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_43935.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_44154",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "wipe(towel, none, tabletop)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "wipe(towel, none, tabletop)"
+      ],
+      "wipe(towel, none, tabletop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_44154.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_45116",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(cloth, left_of_desk)",
+      "place(cloth, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(cloth, left_of_desk)"
+      ],
+      "pull(cloth, left_of_desk)": [
+        "place(cloth, desktop)"
+      ],
+      "place(cloth, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_45116.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_48762",
+    "actions_list": [
+      "move_to(none, shovel_handle)",
+      "grasp(shovel_handle)",
+      "pick_up(shovel_handle)",
+      "move_to(shovel_and_towel, blue_holder)",
+      "place(towel, blue_holder)"
+    ],
+    "gt_dag": {
+      "move_to(none, shovel_handle)": [
+        "grasp(shovel_handle)"
+      ],
+      "grasp(shovel_handle)": [
+        "pick_up(shovel_handle)"
+      ],
+      "pick_up(shovel_handle)": [
+        "move_to(shovel_and_towel, blue_holder)"
+      ],
+      "move_to(shovel_and_towel, blue_holder)": [
+        "place(towel, blue_holder)"
+      ],
+      "place(towel, blue_holder)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_48762.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_48943",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(towel, right)",
+      "place(towel, tabletop)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, right)"
+      ],
+      "pull(towel, right)": [
+        "place(towel, tabletop)"
+      ],
+      "place(towel, tabletop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_48943.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_52111",
+    "actions_list": [
+      "move_to(none, shirt_in_the_box)",
+      "grasp(shirt)",
+      "pick_up(shirt)",
+      "move_to(shirt, chair)",
+      "place(shirt, chair)"
+    ],
+    "gt_dag": {
+      "move_to(none, shirt_in_the_box)": [
+        "grasp(shirt)"
+      ],
+      "grasp(shirt)": [
+        "pick_up(shirt)"
+      ],
+      "pick_up(shirt)": [
+        "move_to(shirt, chair)"
+      ],
+      "move_to(shirt, chair)": [
+        "place(shirt, chair)"
+      ],
+      "place(shirt, chair)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_52111.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_53299",
+    "actions_list": [
+      "move_to(none, upper_left_corner_of_the_blanket)",
+      "grasp(none, upper_left_corner_of_the_blanket)",
+      "pull(corner_of_blanket, upper_and_left)"
+    ],
+    "gt_dag": {
+      "move_to(none, upper_left_corner_of_the_blanket)": [
+        "grasp(none, upper_left_corner_of_the_blanket)"
+      ],
+      "grasp(none, upper_left_corner_of_the_blanket)": [
+        "pull(corner_of_blanket, upper_and_left)"
+      ],
+      "pull(corner_of_blanket, upper_and_left)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_53299.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_56678",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, desktop)",
+      "place(cloth, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, desktop)"
+      ],
+      "move_to(cloth, desktop)": [
+        "place(cloth, desktop)"
+      ],
+      "place(cloth, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_56678.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_58076",
+    "actions_list": [
+      "move_to(none, curtain)",
+      "grasp(curtain)",
+      "pull(curtains, right)"
+    ],
+    "gt_dag": {
+      "move_to(none, curtain)": [
+        "grasp(curtain)"
+      ],
+      "grasp(curtain)": [
+        "pull(curtains, right)"
+      ],
+      "pull(curtains, right)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_58076.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_61361",
+    "actions_list": [
+      "move_to(none, green_towel)",
+      "grasp(green_towel)",
+      "pull(green_towel, right_of_the_wooden_surface)",
+      "place(green_towel, wooden_surface)"
+    ],
+    "gt_dag": {
+      "move_to(none, green_towel)": [
+        "grasp(green_towel)"
+      ],
+      "grasp(green_towel)": [
+        "pull(green_towel, right_of_the_wooden_surface)"
+      ],
+      "pull(green_towel, right_of_the_wooden_surface)": [
+        "place(green_towel, wooden_surface)"
+      ],
+      "place(green_towel, wooden_surface)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_61361.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_62318",
+    "actions_list": [
+      "move_to(none, tote_bag_handle)",
+      "grasp(tote_bag_handle)",
+      "pick_up(tote_bag)",
+      "move_to(tote_bag, rack)",
+      "place(tote_bag, rack)"
+    ],
+    "gt_dag": {
+      "move_to(none, tote_bag_handle)": [
+        "grasp(tote_bag_handle)"
+      ],
+      "grasp(tote_bag_handle)": [
+        "pick_up(tote_bag)"
+      ],
+      "pick_up(tote_bag)": [
+        "move_to(tote_bag, rack)"
+      ],
+      "move_to(tote_bag, rack)": [
+        "place(tote_bag, rack)"
+      ],
+      "place(tote_bag, rack)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_62318.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_64359",
+    "actions_list": [
+      "move_to(none, black_clothing)",
+      "grasp(black_clothing)",
+      "pick_(black_clothing)",
+      "move_to(black_clothing, box)",
+      "place(black_clothing, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, black_clothing)": [
+        "grasp(black_clothing)"
+      ],
+      "grasp(black_clothing)": [
+        "pick_(black_clothing)"
+      ],
+      "pick_(black_clothing)": [
+        "move_to(black_clothing, box)"
+      ],
+      "move_to(black_clothing, box)": [
+        "place(black_clothing, box)"
+      ],
+      "place(black_clothing, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_64359.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_65292",
+    "actions_list": [
+      "move_to(none, black_clothing)",
+      "grasp(black_clothing)",
+      "pick_up(black_clothing)",
+      "move_to(black_clothing,floor)",
+      "place(black_clothing,floor)"
+    ],
+    "gt_dag": {
+      "move_to(none, black_clothing)": [
+        "grasp(black_clothing)"
+      ],
+      "grasp(black_clothing)": [
+        "pick_up(black_clothing)"
+      ],
+      "pick_up(black_clothing)": [
+        "move_to(black_clothing,floor)"
+      ],
+      "move_to(black_clothing,floor)": [
+        "place(black_clothing,floor)"
+      ],
+      "place(black_clothing,floor)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_65292.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_71358",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, cabinet)",
+      "place(towel, cabinet)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, cabinet)"
+      ],
+      "move_to(towel, cabinet)": [
+        "place(towel, cabinet)"
+      ],
+      "place(towel, cabinet)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_71358.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79046",
+    "actions_list": [
+      "move_to(none, blue_clothing)",
+      "grasp(blue_clothing)",
+      "pick_up(clothing)",
+      "move_to(clothing, bed)",
+      "place(clothing, bed)"
+    ],
+    "gt_dag": {
+      "move_to(none, blue_clothing)": [
+        "grasp(blue_clothing)"
+      ],
+      "grasp(blue_clothing)": [
+        "pick_up(clothing)"
+      ],
+      "pick_up(clothing)": [
+        "move_to(clothing, bed)"
+      ],
+      "move_to(clothing, bed)": [
+        "place(clothing, bed)"
+      ],
+      "place(clothing, bed)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_79046.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_80390",
+    "actions_list": [
+      "move_to(none, bottom_left_corner_of_the_cloth)",
+      "grasp(bottom_left_corner_of_the_cloth)",
+      "fold(bottom_left_corner_of_the_cloth, right_side_of_the_towel)",
+      "move_to(none, upper_left_corner_of_the_cloth)",
+      "grasp(upper_left_corner_of_the_cloth)",
+      "fold(upper_left_corner_of_the_cloth, right_side_of_the_towel)",
+      "move_to(none, right_side_of_the_cloth)",
+      "grasp(right_side_of_the_cloth)",
+      "fold(right_side_of_the_cloth, left_side_of_the_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottom_left_corner_of_the_cloth)": [
+        "grasp(bottom_left_corner_of_the_cloth)"
+      ],
+      "grasp(bottom_left_corner_of_the_cloth)": [
+        "fold(bottom_left_corner_of_the_cloth, right_side_of_the_towel)"
+      ],
+      "fold(bottom_left_corner_of_the_cloth, right_side_of_the_towel)": [
+        "move_to(none, right_side_of_the_cloth)"
+      ],
+      "move_to(none, upper_left_corner_of_the_cloth)": [
+        "grasp(upper_left_corner_of_the_cloth)"
+      ],
+      "grasp(upper_left_corner_of_the_cloth)": [
+        "fold(upper_left_corner_of_the_cloth, right_side_of_the_towel)"
+      ],
+      "fold(upper_left_corner_of_the_cloth, right_side_of_the_towel)": [
+        "move_to(none, right_side_of_the_cloth)"
+      ],
+      "move_to(none, right_side_of_the_cloth)": [
+        "grasp(right_side_of_the_cloth)"
+      ],
+      "grasp(right_side_of_the_cloth)": [
+        "fold(right_side_of_the_cloth, left_side_of_the_towel)"
+      ],
+      "fold(right_side_of_the_cloth, left_side_of_the_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_80390.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_86500",
+    "actions_list": [
+      "move_to(none, left_corner_of_cloth)",
+      "grasp(left_corner_of_cloth)",
+      "unfold(left_corner_of_cloth, right_side_of_cloth)",
+      "move_to(none, upper_right_corner_of_cloth)",
+      "grasp(upper_right_corner_of_cloth)",
+      "unfold(upper_right_corner_of_cloth, left_side_of_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_corner_of_cloth)": [
+        "grasp(left_corner_of_cloth)"
+      ],
+      "grasp(left_corner_of_cloth)": [
+        "unfold(left_corner_of_cloth, right_side_of_cloth)"
+      ],
+      "unfold(left_corner_of_cloth, right_side_of_cloth)": [],
+      "move_to(none, upper_right_corner_of_cloth)": [
+        "grasp(upper_right_corner_of_cloth)"
+      ],
+      "grasp(upper_right_corner_of_cloth)": [
+        "unfold(upper_right_corner_of_cloth, left_side_of_cloth)"
+      ],
+      "unfold(upper_right_corner_of_cloth, left_side_of_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_86500.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_87234",
+    "actions_list": [
+      "move_to(none, one_side_of_the_clothing)",
+      "grasp(one_side_of_the_cloth)",
+      "upfold(clothing, none)",
+      "move_to(none, another_side_of_the_clothing)",
+      "grasp(another_side_of_the_clothing)",
+      "unfold(none, clothing)"
+    ],
+    "gt_dag": {
+      "move_to(none, one_side_of_the_clothing)": [
+        "grasp(one_side_of_the_cloth)"
+      ],
+      "grasp(one_side_of_the_cloth)": [
+        "upfold(clothing, none)"
+      ],
+      "upfold(clothing, none)": [],
+      "move_to(none, another_side_of_the_clothing)": [
+        "grasp(another_side_of_the_clothing)"
+      ],
+      "grasp(another_side_of_the_clothing)": [
+        "unfold(none, clothing)"
+      ],
+      "unfold(none, clothing)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_87234.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_87464",
+    "actions_list": [
+      "move_to(none, right_side_of_towel)",
+      "grasp(right_side_of_the_towel)",
+      "fold(right_side_of_the_towel, left_side_of_the_towel)",
+      "place(towel, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, right_side_of_towel)": [
+        "grasp(right_side_of_the_towel)"
+      ],
+      "grasp(right_side_of_the_towel)": [
+        "fold(right_side_of_the_towel, left_side_of_the_towel)"
+      ],
+      "fold(right_side_of_the_towel, left_side_of_the_towel)": [
+        "place(towel, desktop)"
+      ],
+      "place(towel, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_87464.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_89488",
+    "actions_list": [
+      "move_to(none, towel_in_the_cabinet)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, tabletop)",
+      "place(towel, tabletop)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel_in_the_cabinet)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, tabletop)"
+      ],
+      "move_to(towel, tabletop)": [
+        "place(towel, tabletop)"
+      ],
+      "place(towel, tabletop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_89488.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-78_episode-3_rgbd-1",
+    "actions_list": [
+      "move_to(none, paper)",
+      "grasp(paper)",
+      "pick_up(paper)",
+      "turn(paper, none, reverse_side_towards_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, paper)": [
+        "grasp(paper)"
+      ],
+      "grasp(paper)": [
+        "pick_up(paper)"
+      ],
+      "pick_up(paper)": [
+        "turn(paper, none, reverse_side_towards_table)"
+      ],
+      "turn(paper, none, reverse_side_towards_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-78_episode-3_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-2_episode-3_rgbd-1",
+    "actions_list": [
+      "move_to(none, napkin)",
+      "grasp(napkin)",
+      "pick_up(napkin)",
+      "move_to(napkin, table_cloth)",
+      "place(napkin, table_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, napkin)": [
+        "grasp(napkin)"
+      ],
+      "grasp(napkin)": [
+        "pick_up(napkin)"
+      ],
+      "pick_up(napkin)": [
+        "move_to(napkin, table_cloth)"
+      ],
+      "move_to(napkin, table_cloth)": [
+        "place(napkin, table_cloth)"
+      ],
+      "place(napkin, table_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-2_episode-3_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-30_episode-3_rgbd-1",
+    "actions_list": [
+      "move_to(none, top_plate_of_box)",
+      "grasp(top_plate_of_box)",
+      "turn(top_plate_of_box, down, inside_of_box)",
+      "move_to(none, top_plate_of_box)",
+      "grasp(top_plate_of_box)",
+      "turn(top_plate_of_box, down, inside_of_box)",
+      "move_to(none, top_plate_of_box)",
+      "grasp(top_plate_of_box)",
+      "turn(top_plate_of_box, down, inside_of_box)",
+      "move_to(none, top_plate_of_box)",
+      "grasp(top_plate_of_box)",
+      "turn(top_plate_of_box, down, inside_of_box)"
+    ],
+    "gt_dag": {
+      "move_to(none, top_plate_of_box)": [
+        "grasp(top_plate_of_box)"
+      ],
+      "grasp(top_plate_of_box)": [
+        "turn(top_plate_of_box, down, inside_of_box)"
+      ],
+      "turn(top_plate_of_box, down, inside_of_box)": [],
+      "move_to(none, top_plate_of_box)<1>": [],
+      "grasp(top_plate_of_box)<1>": [],
+      "turn(top_plate_of_box, down, inside_of_box)<1>": [],
+      "move_to(none, top_plate_of_box)<2>": [],
+      "grasp(top_plate_of_box)<2>": [],
+      "turn(top_plate_of_box, down, inside_of_box)<2>": [],
+      "move_to(none, top_plate_of_box)<3>": [],
+      "grasp(top_plate_of_box)<3>": [],
+      "turn(top_plate_of_box, down, inside_of_box)<3>": [],
+      "move_to(none, top_plate_of_box)<4>": [
+        "grasp(top_plate_of_box)<4>"
+      ],
+      "grasp(top_plate_of_box)<4>": [
+        "turn(top_plate_of_box, down, inside_of_box)<4>"
+      ],
+      "turn(top_plate_of_box, down, inside_of_box)<4>": [],
+      "move_to(none, top_plate_of_box)<5>": [
+        "grasp(top_plate_of_box)<5>"
+      ],
+      "grasp(top_plate_of_box)<5>": [
+        "turn(top_plate_of_box, down, inside_of_box)<5>"
+      ],
+      "turn(top_plate_of_box, down, inside_of_box)<5>": [],
+      "move_to(none, top_plate_of_box)<6>": [
+        "grasp(top_plate_of_box)<6>"
+      ],
+      "grasp(top_plate_of_box)<6>": [
+        "turn(top_plate_of_box, down, inside_of_box)<6>"
+      ],
+      "turn(top_plate_of_box, down, inside_of_box)<6>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-30_episode-3_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-39_episode-4_rgbd-1",
+    "actions_list": [
+      "move_to(none, sponge)",
+      "grasp(sponge)",
+      "wipe(sponge, spill,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, sponge)": [
+        "grasp(sponge)"
+      ],
+      "grasp(sponge)": [
+        "wipe(sponge, spill,table)"
+      ],
+      "wipe(sponge, spill,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-39_episode-4_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-70_task-25_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, folded_paper)",
+      "grasp(folded_paper)",
+      "unfold(paper, right_side_of_paper)"
+    ],
+    "gt_dag": {
+      "move_to(none, folded_paper)": [
+        "grasp(folded_paper)"
+      ],
+      "grasp(folded_paper)": [
+        "unfold(paper, right_side_of_paper)"
+      ],
+      "unfold(paper, right_side_of_paper)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-70_task-25_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_collect_litter_episode_4",
+    "actions_list": [
+      "move_to(none, crumpled_paper_on_the_left)",
+      "grasp(crumpled_paper),",
+      "pick_up(crumpled_paper),",
+      "move_to(crumpled_paper,trash_can)",
+      "place(crumpled_paper, trash_can)",
+      "move_to(none, crumpled_paper_on_the_middle)",
+      "grasp(crumpled_paper),",
+      "pick_up(crumpled_paper),",
+      "move_to(crumpled_paper,trash_can)",
+      "place(crumpled_paper, trash_can)",
+      "move_to(none, crumpled_paper_on_the_right)",
+      "grasp(crumpled_paper),",
+      "pick_up(crumpled_paper),",
+      "move_to(crumpled_paper,trash_can)",
+      "place(crumpled_paper, trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none, crumpled_paper_on_the_left)": [
+        "grasp(crumpled_paper),"
+      ],
+      "grasp(crumpled_paper),": [
+        "pick_up(crumpled_paper),"
+      ],
+      "pick_up(crumpled_paper),": [
+        "move_to(crumpled_paper,trash_can)"
+      ],
+      "move_to(crumpled_paper,trash_can)": [
+        "place(crumpled_paper, trash_can)"
+      ],
+      "place(crumpled_paper, trash_can)": [],
+      "move_to(none, crumpled_paper_on_the_middle)": [
+        "grasp(crumpled_paper)"
+      ],
+      "grasp(crumpled_paper),<1>": [],
+      "pick_up(crumpled_paper),<1>": [],
+      "move_to(crumpled_paper,trash_can)<1>": [],
+      "place(crumpled_paper, trash_can)<1>": [],
+      "move_to(none, crumpled_paper_on_the_right)": [
+        "grasp(crumpled_paper)<1>"
+      ],
+      "grasp(crumpled_paper),<2>": [],
+      "pick_up(crumpled_paper),<2>": [],
+      "move_to(crumpled_paper,trash_can)<2>": [],
+      "place(crumpled_paper, trash_can)<2>": [],
+      "grasp(crumpled_paper)": [
+        "pick_up(crumpled_paper)"
+      ],
+      "pick_up(crumpled_paper)": [
+        "move_to(crumpled_paper,trash_can)<3>"
+      ],
+      "move_to(crumpled_paper,trash_can)<3>": [
+        "place(crumpled_paper, trash_can)<3>"
+      ],
+      "place(crumpled_paper, trash_can)<3>": [],
+      "grasp(crumpled_paper)<1>": [
+        "pick_up(crumpled_paper)<1>"
+      ],
+      "pick_up(crumpled_paper)<1>": [
+        "move_to(crumpled_paper,trash_can)<4>"
+      ],
+      "move_to(crumpled_paper,trash_can)<4>": [
+        "place(crumpled_paper, trash_can)<4>"
+      ],
+      "place(crumpled_paper, trash_can)<4>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_RDT-FT_imgs_1_collect_litter_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_pull_paper_on_id_card_jsh_episode_7",
+    "actions_list": [
+      "move_to(none, tissue_box)",
+      "grasp(tissue)",
+      "pick_up(tissue)",
+      "move_to(tissue, desktop)",
+      "place(tissue, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, tissue_box)": [
+        "grasp(tissue)"
+      ],
+      "grasp(tissue)": [
+        "pick_up(tissue)"
+      ],
+      "pick_up(tissue)": [
+        "move_to(tissue, desktop)"
+      ],
+      "move_to(tissue, desktop)": [
+        "place(tissue, desktop)"
+      ],
+      "place(tissue, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_RDT-FT_imgs_1_pull_paper_on_id_card_jsh_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_pull_wet_wipe_episode_12",
+    "actions_list": [
+      "move_to(none, tissue_box)",
+      "grasp(tissue)",
+      "pick_up(tissue)",
+      "move_to(tissue, desktop)",
+      "place(tissue, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, tissue_box)": [
+        "grasp(tissue)"
+      ],
+      "grasp(tissue)": [
+        "pick_up(tissue)"
+      ],
+      "pick_up(tissue)": [
+        "move_to(tissue, desktop)"
+      ],
+      "move_to(tissue, desktop)": [
+        "place(tissue, desktop)"
+      ],
+      "place(tissue, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_RDT-FT_imgs_1_pull_wet_wipe_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_put_paper_upside_down_episode_5",
+    "actions_list": [
+      "move_to(none, paper)",
+      "grasp(paper)",
+      "pick_up(paper)",
+      "turn(paper, clockwise, the_back_of_paper)"
+    ],
+    "gt_dag": {
+      "move_to(none, paper)": [
+        "grasp(paper)"
+      ],
+      "grasp(paper)": [
+        "pick_up(paper)"
+      ],
+      "pick_up(paper)": [
+        "turn(paper, clockwise, the_back_of_paper)"
+      ],
+      "turn(paper, clockwise, the_back_of_paper)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_RDT-FT_imgs_1_put_paper_upside_down_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_unwind_charging_cable_episode_6",
+    "actions_list": [
+      "move_to(none, charging_cable)",
+      "grasp(charging_cable)",
+      "pick_up(charging_cable)",
+      "place(charging_cable)"
+    ],
+    "gt_dag": {
+      "move_to(none, charging_cable)": [
+        "grasp(charging_cable)"
+      ],
+      "grasp(charging_cable)": [
+        "pick_up(charging_cable)"
+      ],
+      "pick_up(charging_cable)": [
+        "place(charging_cable)"
+      ],
+      "place(charging_cable)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_RDT-FT_imgs_1_unwind_charging_cable_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_cherry_episode_7",
+    "actions_list": [
+      "grasp(wipe)",
+      "wipe(wipe, spill,table),"
+    ],
+    "gt_dag": {
+      "grasp(wipe)": [
+        "wipe(wipe, spill,table),"
+      ],
+      "wipe(wipe, spill,table),": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_RDT-FT_imgs_1_wipe_cherry_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_glass_water_episode_1",
+    "actions_list": [
+      "move_to(none, sponge)",
+      "grasp(sponge)",
+      "pick_up(sponge)",
+      "move_to(sponge, glass)",
+      "wipe(sponge, stain,glass)"
+    ],
+    "gt_dag": {
+      "move_to(none, sponge)": [
+        "grasp(sponge)"
+      ],
+      "grasp(sponge)": [
+        "pick_up(sponge)"
+      ],
+      "pick_up(sponge)": [
+        "move_to(sponge, glass)"
+      ],
+      "move_to(sponge, glass)": [
+        "wipe(sponge, stain,glass)"
+      ],
+      "wipe(sponge, stain,glass)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_RDT-FT_imgs_1_wipe_glass_water_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_laptop_water_episode_12",
+    "actions_list": [
+      "move_to(none, orange_rag)",
+      "grasp(orange_rag)",
+      "pick_up(orange_rag)",
+      "move_to(rag, laptop_lid)",
+      "wipe(rag, none,laptop_lid)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_rag)": [
+        "grasp(orange_rag)"
+      ],
+      "grasp(orange_rag)": [
+        "pick_up(orange_rag)"
+      ],
+      "pick_up(orange_rag)": [
+        "move_to(rag, laptop_lid)"
+      ],
+      "move_to(rag, laptop_lid)": [
+        "wipe(rag, none,laptop_lid)"
+      ],
+      "wipe(rag, none,laptop_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_RDT-FT_imgs_1_wipe_laptop_water_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_635",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "wipe(cloth, none,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "wipe(cloth, none,table)"
+      ],
+      "wipe(cloth, none,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_15_49_bridge#episode_635.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1299",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(towel, table)",
+      "place(towel, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, table)"
+      ],
+      "pull(towel, table)": [
+        "place(towel, table)"
+      ],
+      "place(towel, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_1299.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8050",
+    "actions_list": [
+      "move_to(none, gray_clothing)",
+      "grasp(gray_clothing)",
+      "pick_up(gray_clothing)",
+      "move_to(gray_clothing, washing_machine)",
+      "place(gray_clothing, washing_machine)"
+    ],
+    "gt_dag": {
+      "move_to(none, gray_clothing)": [
+        "grasp(gray_clothing)"
+      ],
+      "grasp(gray_clothing)": [
+        "pick_up(gray_clothing)"
+      ],
+      "pick_up(gray_clothing)": [
+        "move_to(gray_clothing, washing_machine)"
+      ],
+      "move_to(gray_clothing, washing_machine)": [
+        "place(gray_clothing, washing_machine)"
+      ],
+      "place(gray_clothing, washing_machine)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_17_49_bridge#episode_8050.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_4530",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(corner_of_the_cloth)",
+      "unfold(corner_of_the_cloth, left_side_of_the_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(corner_of_the_cloth)"
+      ],
+      "grasp(corner_of_the_cloth)": [
+        "unfold(corner_of_the_cloth, left_side_of_the_cloth)"
+      ],
+      "unfold(corner_of_the_cloth, left_side_of_the_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_4530.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8555",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(corner_of_the_cloth)",
+      "unfold(cloth, none)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(corner_of_the_cloth)"
+      ],
+      "grasp(corner_of_the_cloth)": [
+        "unfold(cloth, none)"
+      ],
+      "unfold(cloth, none)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8555.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, cans)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, cans)"
+      ],
+      "pull(cloth, cans)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12844",
+    "actions_list": [
+      "move_to(none, bottom_right_corner_of_the_cloth)",
+      "grasp(right_corner_of_the_cloth)",
+      "fold(right_corner_of_the_cloth, left_conrner_of_the_cloth)",
+      "place(cloth,none)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottom_right_corner_of_the_cloth)": [
+        "grasp(right_corner_of_the_cloth)"
+      ],
+      "grasp(right_corner_of_the_cloth)": [
+        "fold(right_corner_of_the_cloth, left_conrner_of_the_cloth)"
+      ],
+      "fold(right_corner_of_the_cloth, left_conrner_of_the_cloth)": [
+        "place(cloth,none)"
+      ],
+      "place(cloth,none)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12844.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_883",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(towel, left_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, left_of_table)"
+      ],
+      "pull(towel, left_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_883.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4012",
+    "actions_list": [
+      "move_to(none, the_end_of_rope)",
+      "grasp(the_end_of_rope)",
+      "pick_up(the_end_of_rope)",
+      "move_to(the_end_of_rope, channel_right)",
+      "insert(the_end_of_rope, channel_right)"
+    ],
+    "gt_dag": {
+      "move_to(none, the_end_of_rope)": [
+        "grasp(the_end_of_rope)"
+      ],
+      "grasp(the_end_of_rope)": [
+        "pick_up(the_end_of_rope)"
+      ],
+      "pick_up(the_end_of_rope)": [
+        "move_to(the_end_of_rope, channel_right)"
+      ],
+      "move_to(the_end_of_rope, channel_right)": [
+        "insert(the_end_of_rope, channel_right)"
+      ],
+      "insert(the_end_of_rope, channel_right)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_4012.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4160",
+    "actions_list": [
+      "move_to(none, edge_of_the_towel)",
+      "grasp(edge_of_the_towel)",
+      "unfold(towel, right_side_of_the_towel)",
+      "place(towel, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, edge_of_the_towel)": [
+        "grasp(edge_of_the_towel)"
+      ],
+      "grasp(edge_of_the_towel)": [
+        "unfold(towel, right_side_of_the_towel)"
+      ],
+      "unfold(towel, right_side_of_the_towel)": [
+        "place(towel, table)"
+      ],
+      "place(towel, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_4160.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4462",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "wipe(cloth, water_stains, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "wipe(cloth, water_stains, counter)"
+      ],
+      "wipe(cloth, water_stains, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_4462.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_11289",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(top_edge_of_the_towel)",
+      "unfold(top_edge_of_the_towel, right_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(top_edge_of_the_towel)"
+      ],
+      "grasp(top_edge_of_the_towel)": [
+        "unfold(top_edge_of_the_towel, right_of_towel)"
+      ],
+      "unfold(top_edge_of_the_towel, right_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_11289.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14967",
+    "actions_list": [
+      "move_to(none, wire_end)",
+      "grasp(wire_end)",
+      "pick_up(wire_end)",
+      "move_to(cable_end, side_of_the_table)",
+      "place(cable_end, side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, wire_end)": [
+        "grasp(wire_end)"
+      ],
+      "grasp(wire_end)": [
+        "pick_up(wire_end)"
+      ],
+      "pick_up(wire_end)": [
+        "move_to(cable_end, side_of_the_table)"
+      ],
+      "move_to(cable_end, side_of_the_table)": [
+        "place(cable_end, side_of_the_table)"
+      ],
+      "place(cable_end, side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_14967.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_15504",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, pan)",
+      "wipe(towel, none, pan)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, pan)"
+      ],
+      "move_to(towel, pan)": [
+        "wipe(towel, none, pan)"
+      ],
+      "wipe(towel, none, pan)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_15504.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_23988",
+    "actions_list": [
+      "move_to(none, cloth_hanging_on_the_hook)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, countertop)",
+      "place(cloth, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth_hanging_on_the_hook)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, countertop)"
+      ],
+      "move_to(cloth, countertop)": [
+        "place(cloth, countertop)"
+      ],
+      "place(cloth, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_23988.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24646",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(towel, right_of_desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, right_of_desktop)"
+      ],
+      "pull(towel, right_of_desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_24646.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_26442",
+    "actions_list": [
+      "move_to(none,black_ clothing)",
+      "grasp(black_clothing)",
+      "pick_up(black_clothing)",
+      "move_to(none, box_with_the_clothing)",
+      "place(black_clothing, cardboard_box)"
+    ],
+    "gt_dag": {
+      "move_to(none,black_ clothing)": [
+        "grasp(black_clothing)"
+      ],
+      "grasp(black_clothing)": [
+        "pick_up(black_clothing)"
+      ],
+      "pick_up(black_clothing)": [
+        "move_to(none, box_with_the_clothing)"
+      ],
+      "move_to(none, box_with_the_clothing)": [
+        "place(black_clothing, cardboard_box)"
+      ],
+      "place(black_clothing, cardboard_box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_26442.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_32457",
+    "actions_list": [
+      "move_to(none, right_side_of_cloth)",
+      "grasp(right_side_of_cloth)",
+      "pick_up(cloth)",
+      "fold(right_side_of_cloth, left_side_of_the_cloth)",
+      "place(cloth, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, right_side_of_cloth)": [
+        "grasp(right_side_of_cloth)"
+      ],
+      "grasp(right_side_of_cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "fold(right_side_of_cloth, left_side_of_the_cloth)"
+      ],
+      "fold(right_side_of_cloth, left_side_of_the_cloth)": [
+        "place(cloth, table)"
+      ],
+      "place(cloth, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_32457.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40020",
+    "actions_list": [
+      "move_to(none, left_side_of_towel)",
+      "grasp(left_side_of_towel)",
+      "fold(left_side_of_the_towel, right_side_of_towel)",
+      "place(towel, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_side_of_towel)": [
+        "grasp(left_side_of_towel)"
+      ],
+      "grasp(left_side_of_towel)": [
+        "fold(left_side_of_the_towel, right_side_of_towel)"
+      ],
+      "fold(left_side_of_the_towel, right_side_of_towel)": [
+        "place(towel, desktop)"
+      ],
+      "place(towel, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_40020.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40218",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, counter)",
+      "wipe(towel, none, counter)",
+      "move_to(towel, wall)",
+      "place(towel, wall)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, counter)"
+      ],
+      "move_to(towel, counter)": [
+        "wipe(towel, none, counter)"
+      ],
+      "wipe(towel, none, counter)": [
+        "move_to(towel, wall)"
+      ],
+      "move_to(towel, wall)": [
+        "place(towel, wall)"
+      ],
+      "place(towel, wall)": [],
+      "r": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_40218.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40847",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "wipe(towel, items, desktop)",
+      "pick_up(towel)",
+      "move_to(towel, bin)",
+      "place(towel, bin)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "wipe(towel, items, desktop)"
+      ],
+      "wipe(towel, items, desktop)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, bin)"
+      ],
+      "move_to(towel, bin)": [
+        "place(towel, bin)"
+      ],
+      "place(towel, bin)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_40847.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40937",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, couch_armrest)",
+      "place(towel, couch_armrest)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, couch_armrest)"
+      ],
+      "move_to(towel, couch_armrest)": [
+        "place(towel, couch_armrest)"
+      ],
+      "place(towel, couch_armrest)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_40937.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_42022",
+    "actions_list": [
+      "move_to(none, charger_cable_one_end)",
+      "grasp(charger_cable_one_end)",
+      "pick_up(charger_cable_one_end)",
+      "move_to(ccharger_cable_one_end, right_of_board)",
+      "place(charger_cable_one_end, right_of_board)",
+      "move_to(none, charger_cable_other_end)",
+      "grasp(charger_cable_other_end)",
+      "pick_up(charger_cable_other_end)",
+      "move_to(charger_cable_other_end, left_of_board)",
+      "place(charger_cable_one_end, left_of_board)"
+    ],
+    "gt_dag": {
+      "move_to(none, charger_cable_one_end)": [
+        "grasp(charger_cable_one_end)"
+      ],
+      "grasp(charger_cable_one_end)": [
+        "pick_up(charger_cable_one_end)"
+      ],
+      "pick_up(charger_cable_one_end)": [
+        "move_to(ccharger_cable_one_end, right_of_board)"
+      ],
+      "move_to(ccharger_cable_one_end, right_of_board)": [
+        "place(charger_cable_one_end, right_of_board)"
+      ],
+      "place(charger_cable_one_end, right_of_board)": [],
+      "move_to(none, charger_cable_other_end)": [
+        "grasp(charger_cable_other_end)"
+      ],
+      "grasp(charger_cable_other_end)": [
+        "pick_up(charger_cable_other_end)"
+      ],
+      "pick_up(charger_cable_other_end)": [
+        "move_to(charger_cable_other_end, left_of_board)"
+      ],
+      "move_to(charger_cable_other_end, left_of_board)": [
+        "place(charger_cable_one_end, left_of_board)"
+      ],
+      "place(charger_cable_one_end, left_of_board)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_42022.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_43043",
+    "actions_list": [
+      "move_to(none, curtain)",
+      "grasp(curtain)",
+      "pull(curtain, left_side)"
+    ],
+    "gt_dag": {
+      "move_to(none, curtain)": [
+        "grasp(curtain)"
+      ],
+      "grasp(curtain)": [
+        "pull(curtain, left_side)"
+      ],
+      "pull(curtain, left_side)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_43043.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_45354",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, pan)",
+      "wipe(towel, none, inside_of_pan)",
+      "move_to(towel, table)",
+      "place(towel, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, pan)"
+      ],
+      "move_to(towel, pan)": [
+        "wipe(towel, none, inside_of_pan)"
+      ],
+      "wipe(towel, none, inside_of_pan)": [
+        "move_to(towel, table)"
+      ],
+      "move_to(towel, table)": [
+        "place(towel, table)"
+      ],
+      "place(towel, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_45354.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49058",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(towel, left_side_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, left_side_of_table)"
+      ],
+      "pull(towel, left_side_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_49058.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49103",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, pan)",
+      "wipe(towel, none,pan)",
+      "move_to(towel, table)",
+      "place(towel, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, pan)"
+      ],
+      "move_to(towel, pan)": [
+        "wipe(towel, none,pan)"
+      ],
+      "wipe(towel, none,pan)": [
+        "move_to(towel, table)"
+      ],
+      "move_to(towel, table)": [
+        "place(towel, table)"
+      ],
+      "place(towel, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_49103.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49218",
+    "actions_list": [
+      "move_to(none, towel_in_the_basket)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, chair)",
+      "place(towel, chair)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel_in_the_basket)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, chair)"
+      ],
+      "move_to(towel, chair)": [
+        "place(towel, chair)"
+      ],
+      "place(towel, chair)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_49218.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_54494",
+    "actions_list": [
+      "move_to(none, waste_paper_in_drawer)",
+      "grasp(waste_paper)",
+      "pick_up(waste_paper)",
+      "move_to(waste_paper, trash_bin)",
+      "place(waste_paper, trash_bin)"
+    ],
+    "gt_dag": {
+      "move_to(none, waste_paper_in_drawer)": [
+        "grasp(waste_paper)"
+      ],
+      "grasp(waste_paper)": [
+        "pick_up(waste_paper)"
+      ],
+      "pick_up(waste_paper)": [
+        "move_to(waste_paper, trash_bin)"
+      ],
+      "move_to(waste_paper, trash_bin)": [
+        "place(waste_paper, trash_bin)"
+      ],
+      "place(waste_paper, trash_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_54494.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_55592",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, none, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, none, table)"
+      ],
+      "pull(cloth, none, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_55592.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_56895",
+    "actions_list": [
+      "move_to(none, curtain)",
+      "grasp(curtain)",
+      "pull(curtain, left)"
+    ],
+    "gt_dag": {
+      "move_to(none, curtain)": [
+        "grasp(curtain)"
+      ],
+      "grasp(curtain)": [
+        "pull(curtain, left)"
+      ],
+      "pull(curtain, left)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_56895.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_59811",
+    "actions_list": [
+      "move_to(none, napkin)",
+      "grasp(napkin)",
+      "pick_up(napkin)",
+      "move_to(napkin, box)",
+      "wipe(napkin,none, box_lid)",
+      "move_to(napkin,table)",
+      "place(napkin,table)",
+      "move_to(none, box_lid)",
+      "grasp(box_lid)",
+      "pull(box_lid, inside)"
+    ],
+    "gt_dag": {
+      "move_to(none, napkin)": [
+        "grasp(napkin)"
+      ],
+      "grasp(napkin)": [
+        "pick_up(napkin)"
+      ],
+      "pick_up(napkin)": [
+        "move_to(napkin, box)"
+      ],
+      "move_to(napkin, box)": [
+        "wipe(napkin,none, box_lid)"
+      ],
+      "wipe(napkin,none, box_lid)": [
+        "move_to(napkin,table)"
+      ],
+      "move_to(napkin,table)": [
+        "place(napkin,table)"
+      ],
+      "place(napkin,table)": [
+        "move_to(none, box_lid)"
+      ],
+      "move_to(none, box_lid)": [
+        "grasp(box_lid)"
+      ],
+      "grasp(box_lid)": [
+        "pull(box_lid, inside)"
+      ],
+      "pull(box_lid, inside)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_59811.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_64775",
+    "actions_list": [
+      "move_to(none, towel_hanging_on_the_wall)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, counter)",
+      "place(towel, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel_hanging_on_the_wall)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, counter)"
+      ],
+      "move_to(towel, counter)": [
+        "place(towel, counter)"
+      ],
+      "place(towel, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_64775.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_68369",
+    "actions_list": [
+      "move_to(none, towel_hanging_on_the_wall)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, countertop)",
+      "wipe(towel,water_stains, countertop)",
+      "move_to(towel, hook_on_the_wall)",
+      "place(towel, hook_on_the_wall)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel_hanging_on_the_wall)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, countertop)"
+      ],
+      "move_to(towel, countertop)": [
+        "wipe(towel,water_stains, countertop)"
+      ],
+      "wipe(towel,water_stains, countertop)": [
+        "move_to(towel, hook_on_the_wall)"
+      ],
+      "move_to(towel, hook_on_the_wall)": [
+        "place(towel, hook_on_the_wall)"
+      ],
+      "place(towel, hook_on_the_wall)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_68369.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_72019",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(towel, table_left)",
+      "pick_up(towel)",
+      "move_to(towel,basket)",
+      "place(towel, basket)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, table_left)"
+      ],
+      "pull(towel, table_left)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel,basket)"
+      ],
+      "move_to(towel,basket)": [
+        "place(towel, basket)"
+      ],
+      "place(towel, basket)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_72019.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_73045",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(corner_of_the_towel)",
+      "fold(grasped_corner, diagonal_corner)",
+      "move_to(none, towel)",
+      "grasp(corner_of_the_ towel)",
+      "fold(grasped_corner, diagonal_corner)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(corner_of_the_towel)"
+      ],
+      "grasp(corner_of_the_towel)": [
+        "fold(grasped_corner, diagonal_corner)"
+      ],
+      "fold(grasped_corner, diagonal_corner)": [
+        "move_to(none, towel)<2>"
+      ],
+      "move_to(none, towel)<1>": [],
+      "grasp(corner_of_the_ towel)": [
+        "fold(grasped_corner, diagonal_corner)<2>"
+      ],
+      "fold(grasped_corner, diagonal_corner)<1>": [],
+      "move_to(none, towel)<2>": [
+        "grasp(corner_of_the_ towel)"
+      ],
+      "fold(grasped_corner, diagonal_corner)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_73045.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79391",
+    "actions_list": [
+      "move_to(none, sweatshirt)",
+      "grasp(sleeves_of_the_sweatshirt)",
+      "unfold(sleeves_of_the_sweatshirt, right_side_of_the_sweatshirt)",
+      "move_to(none, sweatshirt)",
+      "grasp(another_sleeves_of_sweatshirt)",
+      "unfold(another_sleeves_of_sweatshirt, left_side_of_the_sweatshirt)"
+    ],
+    "gt_dag": {
+      "move_to(none, sweatshirt)": [
+        "grasp(sleeves_of_the_sweatshirt)"
+      ],
+      "grasp(sleeves_of_the_sweatshirt)": [
+        "unfold(sleeves_of_the_sweatshirt, right_side_of_the_sweatshirt)"
+      ],
+      "unfold(sleeves_of_the_sweatshirt, right_side_of_the_sweatshirt)": [
+        "move_to(none, sweatshirt)<2>"
+      ],
+      "move_to(none, sweatshirt)<1>": [],
+      "grasp(another_sleeves_of_sweatshirt)": [
+        "unfold(another_sleeves_of_sweatshirt, left_side_of_the_sweatshirt)"
+      ],
+      "unfold(another_sleeves_of_sweatshirt, left_side_of_the_sweatshirt)": [],
+      "move_to(none, sweatshirt)<2>": [
+        "grasp(another_sleeves_of_sweatshirt)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_79391.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79451",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pull(towel, left_side_of_the_table)",
+      "pick_up(towel)",
+      "move_to(towel, storage_box)",
+      "palce(towel, storage_box)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, left_side_of_the_table)"
+      ],
+      "pull(towel, left_side_of_the_table)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, storage_box)"
+      ],
+      "move_to(towel, storage_box)": [
+        "palce(towel, storage_box)"
+      ],
+      "palce(towel, storage_box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_79451.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_81862",
+    "actions_list": [
+      "move_to(none, the_end_of_the_charger)",
+      "grasp(the_end_of_the_charger)",
+      "pull(charger, right_side_of_table)",
+      "place(charger,table)",
+      "move_to(charger, the_another_end_of_the_charger)",
+      "grasp(the_another_end_of_the_charger,table)",
+      "pull(charger, left_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, the_end_of_the_charger)": [
+        "grasp(the_end_of_the_charger)"
+      ],
+      "grasp(the_end_of_the_charger)": [
+        "pull(charger, right_side_of_table)"
+      ],
+      "pull(charger, right_side_of_table)": [
+        "place(charger,table)"
+      ],
+      "place(charger,table)": [
+        "move_to(charger, the_another_end_of_the_charger)"
+      ],
+      "move_to(charger, the_another_end_of_the_charger)": [
+        "grasp(the_another_end_of_the_charger,table)"
+      ],
+      "grasp(the_another_end_of_the_charger,table)": [
+        "pull(charger, left_of_table)"
+      ],
+      "pull(charger, left_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_81862.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_82406",
+    "actions_list": [
+      "move_to(none, jeans)",
+      "grasp(edge_of_the_left_leg)",
+      "unfold(edge_of_the_left_leg, right_of_the_jeans)"
+    ],
+    "gt_dag": {
+      "move_to(none, jeans)": [
+        "grasp(edge_of_the_left_leg)"
+      ],
+      "grasp(edge_of_the_left_leg)": [
+        "unfold(edge_of_the_left_leg, right_of_the_jeans)"
+      ],
+      "unfold(edge_of_the_left_leg, right_of_the_jeans)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_82406.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_82723",
+    "actions_list": [
+      "move_to(none, right_side_of_towel)",
+      "grasp(right_side_of_towel)",
+      "fold(right_side_of_towel, left_side_of_towel)",
+      "move_to(none, left_side_of_towel)",
+      "grasp(left_side_of_towel)",
+      "fold(left_side_of_towel, right_side_of_towel)",
+      "move_to(none, left_side_of_towel)",
+      "grasp(left_side_of_towel)",
+      "fold(left_side_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, right_side_of_towel)": [
+        "grasp(right_side_of_towel)"
+      ],
+      "grasp(right_side_of_towel)": [
+        "fold(right_side_of_towel, left_side_of_towel)"
+      ],
+      "fold(right_side_of_towel, left_side_of_towel)": [
+        "move_to(none, left_side_of_towel)"
+      ],
+      "move_to(none, left_side_of_towel)": [
+        "grasp(left_side_of_towel)"
+      ],
+      "grasp(left_side_of_towel)": [
+        "fold(left_side_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_side_of_towel, right_side_of_towel)": [
+        "move_to(none, left_side_of_towel)<2>"
+      ],
+      "move_to(none, left_side_of_towel)<1>": [],
+      "grasp(left_side_of_towel)<1>": [],
+      "fold(left_side_of_towel, right_side_of_towel)<1>": [],
+      "move_to(none, left_side_of_towel)<2>": [
+        "grasp(left_side_of_towel)<2>"
+      ],
+      "grasp(left_side_of_towel)<2>": [
+        "fold(left_side_of_towel, right_side_of_towel)<2>"
+      ],
+      "fold(left_side_of_towel, right_side_of_towel)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_82723.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_83715",
+    "actions_list": [
+      "move_to(none, edge_of_towel)",
+      "grasp(edge_of_towel)",
+      "unfold(edge_of_towe, left_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, edge_of_towel)": [
+        "grasp(edge_of_towel)"
+      ],
+      "grasp(edge_of_towel)": [
+        "unfold(edge_of_towe, left_of_towel)"
+      ],
+      "unfold(edge_of_towe, left_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_83715.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_86956",
+    "actions_list": [
+      "move_to(none, marker_pen)",
+      "grasp(marker_pen)",
+      "pick_up(marker_pen)",
+      "move_to(marker_pen, towel)",
+      "place(marker_pen,towel)",
+      "move_to(none, towel)",
+      "grasp(towel_left_corner)",
+      "fold(towel_left_corner,towel_right_corner)",
+      "move_to(none, folded_towel)",
+      "grasp(folded_towel)",
+      "pick_up(folded_towel)",
+      "move_to(folded_towel, box)",
+      "place(folded_towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker_pen)": [
+        "grasp(marker_pen)"
+      ],
+      "grasp(marker_pen)": [
+        "pick_up(marker_pen)"
+      ],
+      "pick_up(marker_pen)": [
+        "move_to(marker_pen, towel)"
+      ],
+      "move_to(marker_pen, towel)": [
+        "place(marker_pen,towel)"
+      ],
+      "place(marker_pen,towel)": [
+        "move_to(none, towel)"
+      ],
+      "move_to(none, towel)": [
+        "grasp(towel_left_corner)"
+      ],
+      "grasp(towel_left_corner)": [
+        "fold(towel_left_corner,towel_right_corner)"
+      ],
+      "fold(towel_left_corner,towel_right_corner)": [
+        "move_to(none, folded_towel)"
+      ],
+      "move_to(none, folded_towel)": [
+        "grasp(folded_towel)"
+      ],
+      "grasp(folded_towel)": [
+        "pick_up(folded_towel)"
+      ],
+      "pick_up(folded_towel)": [
+        "move_to(folded_towel, box)"
+      ],
+      "move_to(folded_towel, box)": [
+        "place(folded_towel, box)"
+      ],
+      "place(folded_towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_86956.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_88658",
+    "actions_list": [
+      "move_to(none, curtain)",
+      "grasp(curtain)",
+      "pull(curtain, left_side_of_the_curtain)"
+    ],
+    "gt_dag": {
+      "move_to(none, curtain)": [
+        "grasp(curtain)"
+      ],
+      "grasp(curtain)": [
+        "pull(curtain, left_side_of_the_curtain)"
+      ],
+      "pull(curtain, left_side_of_the_curtain)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_deformable_images_rtx_frames__new_85_85_droid#episode_88658.png"
+  }
+]
\ No newline at end of file
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+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-42_episode-1_rgbd-1_Q2",
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+      "cross_object",
+      "material_affordance",
+      "deformable"
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+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(plastic_bag_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
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+      "frame_05.png",
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+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag> as the goal, steps so far are shown in the video, is step 1-move_to(none, plastic_bag) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-42_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(plastic_bag)",
+    "image_urls": [
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+      "frame_01.png",
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag> as the goal, steps so far are shown in the video, is step 1-move_to(none, plastic_bag) finished?",
+    "gt_answer": "yes",
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+      "material_affordance",
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling a napkin out from a paper drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, napkin),2-grasp(napkin),3-pick_up(napkin),4-move_to(napkin, desktop),5-place(napkin, desktop)",
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+      "frame_00.png"
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+  {
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+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling a napkin out from a paper drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(napkin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
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+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-2_episode-5_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling a napkin out from a paper drawer> as the goal, steps so far are shown in the video, is step 2-grasp(napkin) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
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+      "frame_02.png",
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+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, toilet_paper),2-grasp(toilet_paper),3-pick_up(toilet_paper),4-move_to(toilet_paper, holder),5-insert(toilet_paper, holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-60_episode-4_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-insert(toilet_paper, holder)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-60_episode-4_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, steps so far are shown in the video, is step 3-pick_up(toilet_paper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-62_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the toilet paper on the shelf on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, toilet_paper),2-grasp(toilet_paper),3-pull(toilet_paper,left),4-move_to(toilet_paper, desktop),5-place(toilet_paper, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-62_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the toilet paper on the shelf on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, toilet_paper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-2_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling a napkin out of a paper drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, napkin),2-grasp(napkin),3-pick_up(napkin),4-move_to(napkin,table_cloth),5-place(napkin,table_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-2_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling a napkin out of a paper drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(napkin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-2_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling a napkin out of a paper drawer> as the goal, steps so far are shown in the video, is step 2-grasp(napkin) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-2_episode-7_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a piece of napkin from a paper drawer and place it on the blue tablecloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, napkin),2-grasp(napkin),3-pick_up(napkin),4-move_to(napkin, blue_tablecloth),5-place(napkin, blue_tablecloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-2_episode-7_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a piece of napkin from a paper drawer and place it on the blue tablecloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(napkin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-2_episode-7_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a piece of napkin from a paper drawer and place it on the blue tablecloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, napkin) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-78_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip over a paper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, edge_of_paper),2-grasp(edge_of_paper),3-turn(edge_of_paper,clockwise, overturn)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-78_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip over a paper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(edge_of_paper, clockwise, overturn)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-78_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip over a paper> as the goal, steps so far are shown in the video, is step 2-grasp(edge_of_paper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-39_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a tabletop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, sponge),2-grasp(sponge),3-wipe(sponge, stain,desktop),4-place(sponge, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-39_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a tabletop> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(sponge)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-39_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a tabletop> as the goal, steps so far are shown in the video, is step 2-grasp(sponge) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-60_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, toilet_paper),2-grasp(toilet_paper),3-pick_up(toilet_paper),4-move_to(toilet_paper, toilet_paper_holder),5-insert(toilet_paper, toilet_paper_holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-60_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(toilet_paper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-60_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, steps so far are shown in the video, is step 1-move_to(none, toilet_paper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-60_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <installing a toilet paper roll onto a holder> as the goal, steps so far are shown in the video, is step 2-grasp(toilet_paper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-2_episode-5_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pull a tissue out of paper extraction> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tissue),2-grasp(tissue),3-pick_up(tissue)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-2_episode-5_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pull a tissue out of paper extraction> as the goal, steps so far are shown in the video, is step 2-grasp(tissue) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-10_task-2_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take out a tissue and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, napkin),2-grasp(napkin),3-pick_up(napkin),4-move_to(napkin,table),5-place(napkin,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-10_task-2_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take out a tissue and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(napkin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-10_task-2_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take out a tissue and place it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, napkin) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-10_task-78_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, upper_right_corner_of_paper),2-grasp(upper_right_corner_of_paper),3-turn(paper, anticlockwise, overturn),4-place(paper, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-10_task-78_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(paper, anticlockwise, overturn)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-10_task-78_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper> as the goal, steps so far are shown in the video, is step 2-grasp(upper_right_corner_of_paper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-15_task-36_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table with a sponge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, sponge),2-grasp(sponge),3-wipe(sponge, none, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-15_task-36_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table with a sponge> as the goal, steps so far are shown in the video, is step 2-grasp(sponge) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-18_task-56_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a toilet paper roll on its holder> as the goal, steps so far are shown in the video, is step 1-move_to(none, toilet_paper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-18_task-74_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper and spread it out> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(bottom_right_corner_of_paper),2-pick_up(bottom_right_corner_of_paper),3-turn(paper,anticlockwise,overturn),4-place(paper,desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-18_task-74_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper and spread it out> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(paper, anticlockwise, overturn)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-18_task-74_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper and spread it out> as the goal, steps so far are shown in the video, is step 2-pick_up(bottom_right_corner_of_paper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-31_task-4_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a stain off a tablecloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-wipe(towel, stain, tablecloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-31_task-4_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a stain off a tablecloth> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-86_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-86_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-51_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, toilet_paper),2-grasp(toilet_paper),3-pick_up(toilet_paper),4-move_to(toilet_paper, toilet_paper_holder),5-insert(toilet_paper, toilet_paper_holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-51_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(toilet_paper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-51_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of toilet paper onto a holder> as the goal, steps so far are shown in the video, is step 4-move_to(toilet_paper, toilet_paper_holder) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-40_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag filled with sponges> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, plastic_bag_handle),2-grasp(plastic_bag_handle),3-pick_up(plastic_bag),4-move_to(plastic_bag,table_right),5-place(plastic_bag,table_right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-40_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag filled with sponges> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(plastic_bag_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-40_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag filled with sponges> as the goal, steps so far are shown in the video, is step 1-move_to(none, plastic_bag_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-39_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag filled with sponges> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, plastic_bag_handle),2-grasp(plastic_bag_handle),3-pick_up(plastic_bag),4-move_to(plastic_bag,table_left),5-place(plastic_bag,table_left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-39_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag filled with sponges> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(plastic_bag_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-39_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a plastic bag filled with sponges> as the goal, steps so far are shown in the video, is step 1-move_to(none, plastic_bag_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_edge_of_towel),2-grasp(left_edge_of_towel),3-fold(left_edge_of_towel, right_edge_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_14_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_edge_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_14_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_214_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(left_side_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_214_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_side_of_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_332_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_side_of_towel),2-grasp(left_side_of_towel),3-fold(left_side_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_332_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_side_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_1665_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_side_of_towel),2-grasp(left_side_of_towel),3-fold(left_side_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_1665_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(left_side_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/DSL_shrinked_fold_towel_episode_1665_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel> as the goal, steps so far are shown in the video, is step 2-grasp(left_side_of_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10343_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a rag to the edge of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, rag),2-grasp(rag),3-pull(rag, edge_of_the_table),4-place(rag, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10343_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a rag to the edge of a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(rag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10343_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a rag to the edge of a table> as the goal, steps so far are shown in the video, is step 2-grasp(rag) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14682_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a dish towel to the front of a counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-move_to(towel, edge_of_the_counter),4-place(towel, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14682_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a dish towel to the front of a counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-move_to(towel, edge_of_the_counter)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14682_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a dish towel to the front of a counter> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12419_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, upper_right_corner_of_cloth),2-grasp(upper_right_corner_of_the_cloth),3-fold(upper_right_corner_of_the_cloth, bottom_left_corner),4-place(cloth, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12419_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(upper_right_corner_of_the_cloth, bottom_left_corner)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12419_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, upper_right_corner_of_cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_16803_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a toy duck into a pan> as the goal, steps so far are shown in the video, is step 1-move_to(none, toy_duck) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24861_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, upper_right_corner_of_the_cloth),2-grasp(upper_right_corner_of_the_cloth),3-unfold(upper_right_corner_of_the_cloth, bottom_left_corner)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24861_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-unfold(upper_right_corner_of_the_cloth, bottom_left_corner)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24861_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, upper_right_corner_of_the_cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29057_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, upper_left_corner_of_the_cloth),2-grasp(upper_left_corner_of_the_cloth),3-fold(upper_left_corner_of_the_cloth, bottom_right_corner),4-place(cloth, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29057_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(upper_left_corner_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29057_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, upper_left_corner_of_the_cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_51629_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unloading clothes from a laundry machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cloth_in_laundry_machine),2-grasp(piece_of_cloth),3-pick_up(piece_of_cloth),4-move_to(cloth, basket),5-place(cloth, basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_51629_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unloading clothes from a laundry machine> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(piece_of_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_51629_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unloading clothes from a laundry machine> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth_in_laundry_machine) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1462_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a blue checkered cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_21_55_dobbe#episode_1462_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a blue checkered cloth> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_5439_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a towel to the right on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(towel, right_of_table),4-place(towel, tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_7555_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a hat to a shelf> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(hat, shelf)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_7555_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a hat to a shelf> as the goal, steps so far are shown in the video, is step 2-grasp(hat) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_12800_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cloth on a holder, then moving it to a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, holder),5-place(cloth, holder),6-move_to(none, cloth),7-grasp(cloth),8-pick_up(cloth),9-move_to(cloth, desktop),10-place(cloth, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_12800_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cloth on a holder, then moving it to a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_12800_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cloth on a holder, then moving it to a table> as the goal, steps so far are shown in the video, is step 4-move_to(cloth, holder) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_13272_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a towel on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, edge_of_towel),2-grasp(edge_of_towel),3-pick_up(towel),4-unfold(towel, none),5-place(towel, tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_13272_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a towel on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(edge_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_13272_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a towel on a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, edge_of_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14417_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a tissue paper from a tissue box and placing it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, tissue),2-grasp(tissue),3-pick_up(tissue),4-move_to(tissue, tabletop),5-place(tissue, tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14417_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a tissue paper from a tissue box and placing it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(tissue)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14417_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a tissue paper from a tissue box and placing it on the table> as the goal, steps so far are shown in the video, is step 2-grasp(tissue) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14706_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a cloth from a holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, desktop),5-place(cloth, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14706_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a cloth from a holder> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_16785_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold pants> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, top_pants_leg),2-grasp(top_pants_leg),3-fold(pants_leg, right_of_the_pants),4-move_to(none, low_pants_leg),5-grasp(low_pants_leg),6-fold(pants_leg, right_of_the_pants)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_16785_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold pants> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(top_pants_leg)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_16785_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold pants> as the goal, steps so far are shown in the video, is step 2-grasp(top_pants_leg) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_17035_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove the cloth from the wooden holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, holder),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, desktop),5-place(cloth, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_17035_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove the cloth from the wooden holder> as the goal, steps so far are shown in the video, is step 1-move_to(none, holder) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_18454_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel on a chair> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(towel, chair)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_18454_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel on a chair> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_19940_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a clothing and place it on a chair seat> as the goal, steps so far are shown in the video, is step 1-move_to(none, clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_20448_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a piece of clothing into a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(clothing, box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_20448_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a piece of clothing into a box> as the goal, steps so far are shown in the video, is step 2-grasp(clothing) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_22489_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Remove the blanket from the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pink_blanket),2-grasp(pink_blanket),3-pick_up(pink_blanket),4-move_to(pink_blanket, square_pattern_blanket),5-place(pink_blanket, square_pattern_blanket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_22489_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Remove the blanket from the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pink_blanket)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_22489_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Remove the blanket from the box> as the goal, steps so far are shown in the video, is step 1-move_to(none, pink_blanket) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_23517_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a tissue paper into a paper cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(tissue)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_23517_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a tissue paper into a paper cup> as the goal, steps so far are shown in the video, is step 2-grasp(tissue) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24062_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Open the curtain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, curtain),2-grasp(curtain),3-pull(curtain, right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24062_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Open the curtain> as the goal, steps so far are shown in the video, is step 1-move_to(none, curtain) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24380_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a piece of clothing from a box to a sofa> as the goal, steps so far are shown in the video, is step 1-move_to(none, clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24790_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a plate with a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, blue_towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, plate),5-wipe(towel, none, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24790_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a plate with a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(towel, plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24790_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a plate with a towel> as the goal, steps so far are shown in the video, is step 4-move_to(towel, plate) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_31492_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the pillow over> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, edge_of_pillow),2-grasp(edge_of_pillow),3-turn(pillow, clockwise, overturn),4-move_to(none, pillow),5-grasp(pillow),6-pull(pillow, edge_of_bed),7-place(pillow, bed)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_31492_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the pillow over> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(pillow, clockwise, overturn)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_31492_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the pillow over> as the goal, steps so far are shown in the video, is step 1-move_to(none, edge_of_pillow) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_38503_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a cloth from a holder and placing it back> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, desktop),5-place(cloth, desktop),6-move_to(none, cloth),7-grasp(cloth),8-pick_up(cloth),9-move_to(cloth, holder),10-place(cloth, holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_38503_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a cloth from a holder and placing it back> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_39344_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a bedsheet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, upper_left_corner_of_the_bedsheet),2-grasp(corner_of_the_bedsheet),3-pull(bedsheet, upper),4-move_to(none, upper_left_corner_of_the_bedsheet),5-grasp(corner_of_the_bedsheet),6-pull(bedsheet, left),7-move_to(none, upper_left_corner_of_the_bedsheet),8-grasp(corner_of_the_bedsheet),9-pull(bedsheet, upper),10-move_to(none, upper_left_corner_of_the_bedsheet),11-grasp(corner_of_the_bedsheet),12-pull(bedsheet, upper)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_39344_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a bedsheet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-move_to(none, upper_left_corner_of_the_bedsheet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_39344_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a bedsheet> as the goal, steps so far are shown in the video, is step 3-pull(bedsheet, upper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_39508_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a table cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth_left_lower_corner),3-fold(cloth_left_lower_corner,cloth_right_lower_corner),4-move_to(none, cloth),5-grasp(cloth_left_top_corner),6-fold(cloth_left_top_corner,cloth_right_top_corner),7-move_to(none, cloth),8-grasp(cloth_right_edge),9-fold(cloth_right_edge,cloth_left_edge)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_39508_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a table cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(cloth_left_lower_corner, cloth_right_lower_corner)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_39508_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a table cloth> as the goal, steps so far are shown in the video, is step 4-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_43935_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white cloth into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, white_cloth),2-grasp(white_cloth),3-pick_up(white_cloth),4-move_to(cloth, open_drawer),5-place(cloth, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_43935_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white cloth into a drawer> as the goal, steps so far are shown in the video, is step 3-pick_up(white_cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_44154_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-wipe(towel, none, tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_44154_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_45116_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a towel to the left on a desk> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(cloth, left_of_desk)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_48762_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white towel on a blue holder with a shovel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, shovel_handle),2-grasp(shovel_handle),3-pick_up(shovel_handle),4-move_to(shovel_and_towel, blue_holder),5-place(towel, blue_holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_48762_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white towel on a blue holder with a shovel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(shovel_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_48762_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white towel on a blue holder with a shovel> as the goal, steps so far are shown in the video, is step 1-move_to(none, shovel_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_48943_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a towel to the right on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(towel, right),4-place(towel, tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_52111_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a shirt on a chair> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, shirt_in_the_box),2-grasp(shirt),3-pick_up(shirt),4-move_to(shirt, chair),5-place(shirt, chair)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_52111_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a shirt on a chair> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(shirt)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_52111_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a shirt on a chair> as the goal, steps so far are shown in the video, is step 1-move_to(none, shirt_in_the_box) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_52413_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a piece of blue clothing from one drawer to another> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(blue_shirt)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_52413_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a piece of blue clothing from one drawer to another> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_shirt) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_53299_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Lay the blanket up> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, upper_left_corner_of_the_blanket),2-grasp(none, upper_left_corner_of_the_blanket),3-pull(corner_of_blanket, upper_and_left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_53299_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Lay the blanket up> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(none, upper_left_corner_of_the_blanket)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_53299_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Lay the blanket up> as the goal, steps so far are shown in the video, is step 1-move_to(none, upper_left_corner_of_the_blanket) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_56678_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unhanging a cloth from a stand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, desktop),5-place(cloth, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_56678_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unhanging a cloth from a stand> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_58076_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the curtain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, curtain),2-grasp(curtain),3-pull(curtains, right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_58076_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the curtain> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(curtains, right)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_58076_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the curtain> as the goal, steps so far are shown in the video, is step 2-grasp(curtain) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_61361_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a green towel to the right on a wooden surface> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, green_towel),2-grasp(green_towel),3-pull(green_towel, right_of_the_wooden_surface),4-place(green_towel, wooden_surface)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_61361_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a green towel to the right on a wooden surface> as the goal, steps so far are shown in the video, is step 1-move_to(none, green_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_62318_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a tote bag on a coat rack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, tote_bag_handle),2-grasp(tote_bag_handle),3-pick_up(tote_bag),4-move_to(tote_bag, rack),5-place(tote_bag, rack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_62318_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a tote bag on a coat rack> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(tote_bag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_62318_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a tote bag on a coat rack> as the goal, steps so far are shown in the video, is step 3-pick_up(tote_bag) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_64359_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a black clothing into a storage box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, black_clothing),2-grasp(black_clothing),3-pick_up(black_clothing),4-move_to(black_clothing, box),5-place(black_clothing, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_64359_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a black clothing into a storage box> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_65292_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a black clothing from a window sill> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, black_clothing),2-grasp(black_clothing),3-pick_up(black_clothing),4-move_to(black_clothing,floor),5-place(black_clothing,floor)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_65292_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a black clothing from a window sill> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(black_clothing)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_65292_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a black clothing from a window sill> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_71358_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a towel in a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, cabinet),5-place(towel, cabinet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79046_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a clothing onto a bed> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, blue_clothing),2-grasp(blue_clothing),3-pick_up(clothing),4-move_to(clothing, bed),5-place(clothing, bed)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79046_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a clothing onto a bed> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(clothing)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79046_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a clothing onto a bed> as the goal, steps so far are shown in the video, is step 2-grasp(blue_clothing) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_80390_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(left_side_of_the_cloth),3-fold(left_side_of_the_cloth, right_side_of_the_towel),4-move_to(none, bottom_side_of_the_cloth),5-grasp(bottom_side_of_the_cloth),6-fold(bottom_side_of_the_cloth, upper_side_of_the_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_80390_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth twice> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(left_side_of_the_cloth, right_side_of_the_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_80390_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth twice> as the goal, steps so far are shown in the video, is step 2-grasp(left_side_of_the_cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_86500_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a folded cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, left_corner_of_cloth),2-grasp(left_corner_of_cloth),3-unfold(left_corner_of_cloth, right_side_of_cloth),4-move_to(none, upper_right_corner_of_cloth),5-grasp(upper_right_corner_of_cloth),6-unfold(upper_right_corner_of_cloth, left_side_of_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_86500_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a folded cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-grasp(upper_right_corner_of_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_86500_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a folded cloth> as the goal, steps so far are shown in the video, is step 3-unfold(left_corner_of_cloth, right_side_of_cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_87234_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a piece of clothing> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(left_side_of_the_cloth),3-unfold(left_side_of_the_cloth, right_side_of_the_cloth),4-move_to(none, bottom_side_of_the_cloth),5-grasp(bottom_side_of_the_cloth),6-unfold(bottom_side_of_the_cloth, upper_side_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_87234_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a piece of clothing> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-unfold(left_side_of_the_cloth, right_side_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_87234_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a piece of clothing> as the goal, steps so far are shown in the video, is step 2-grasp(left_side_of_the_cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_87464_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel in half> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, right_side_of_towel),2-grasp(right_side_of_the_towel),3-fold(right_side_of_the_towel, left_side_of_the_towel),4-place(towel, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_87464_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel in half> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(right_side_of_the_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_87464_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a towel in half> as the goal, steps so far are shown in the video, is step 1-move_to(none, right_side_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_88139_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red mat on a microwave> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(red_mat)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_88139_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red mat on a microwave> as the goal, steps so far are shown in the video, is step 3-pick_up(red_mat) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_89488_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a towel from a cabinet to a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel_in_the_cabinet),2-grasp(towel),3-pick_up(towel),4-move_to(towel, tabletop),5-place(towel, tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_89488_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a towel from a cabinet to a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel_in_the_cabinet) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-78_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, paper),2-grasp(paper),3-pick_up(paper),4-turn(paper, none, reverse_side_towards_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-78_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(paper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-78_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a piece of paper> as the goal, steps so far are shown in the video, is step 1-move_to(none, paper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-2_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a napkin from under a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, napkin),2-grasp(napkin),3-pick_up(napkin),4-move_to(napkin, table_cloth),5-place(napkin, table_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-2_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a napkin from under a box> as the goal, steps so far are shown in the video, is step 1-move_to(none, napkin) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-30_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none, top_plate_of_box),2-grasp(top_plate_of_box),3-turn(top_plate_of_box, down, inside_of_box),4-move_to(none, top_plate_of_box),5-grasp(top_plate_of_box),6-turn(top_plate_of_box, down, inside_of_box),7-move_to(none, top_plate_of_box),8-grasp(top_plate_of_box),9-turn(top_plate_of_box, down, inside_of_box),10-move_to(none, top_plate_of_box),11-grasp(top_plate_of_box),12-turn(top_plate_of_box, down, inside_of_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-30_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(top_plate_of_box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-30_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the box> as the goal, steps so far are shown in the video, is step 3-turn(top_plate_of_box, down, inside_of_box) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-39_episode-4_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a spill on a tabletop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, sponge),2-grasp(sponge),3-wipe(sponge, spill,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-39_episode-4_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a spill on a tabletop> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(sponge)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-39_episode-4_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a spill on a tabletop> as the goal, steps so far are shown in the video, is step 2-grasp(sponge) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-105_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plugging a power cord into a socket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(power_cord_plug)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-105_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plugging a power cord into a socket> as the goal, steps so far are shown in the video, is step 3-pick_up(power_cord_plug) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-70_task-25_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a piece of paper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, folded_paper),2-grasp(folded_paper),3-unfold(paper, right_side_of_paper)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-70_task-25_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a piece of paper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(folded_paper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-70_task-25_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a piece of paper> as the goal, steps so far are shown in the video, is step 1-move_to(none, folded_paper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_collect_litter_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Throwing trash into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none, crumpled_paper_on_the_left),2-grasp(crumpled_paper),,3-pick_up(crumpled_paper),,4-move_to(crumpled_paper,trash_can),5-place(crumpled_paper, trash_can),6-move_to(none, crumpled_paper_on_the_middle),7-grasp(crumpled_paper),,8-pick_up(crumpled_paper),,9-move_to(crumpled_paper,trash_can),10-place(crumpled_paper, trash_can),11-move_to(none, crumpled_paper_on_the_right),12-grasp(crumpled_paper),,13-pick_up(crumpled_paper),,14-move_to(crumpled_paper,trash_can),15-place(crumpled_paper, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_collect_litter_episode_4_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Throwing trash into a trash can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, crumpled_paper_on_the_middle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_hang_bag_on_hook_episode_4_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Hanging a paper bag on a hook> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(paper_bag, hook)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_hang_bag_on_hook_episode_4_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Hanging a paper bag on a hook> as the goal, steps so far are shown in the video, is step 2-grasp(paper_bag_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_pull_paper_on_id_card_jsh_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Draw a piece of paper from tissue_box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, tissue_box),2-grasp(tissue),3-pick_up(tissue),4-move_to(tissue, desktop),5-place(tissue, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_pull_paper_on_id_card_jsh_episode_7_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Draw a piece of paper from tissue_box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(tissue, desktop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_pull_paper_on_id_card_jsh_episode_7_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Draw a piece of paper from tissue_box> as the goal, steps so far are shown in the video, is step 5-place(tissue, desktop) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_pull_wet_wipe_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Draw a piece of paper from tissue_box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, tissue_box),2-grasp(tissue),3-pick_up(tissue),4-move_to(tissue, desktop),5-place(tissue, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_pull_wet_wipe_episode_12_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Draw a piece of paper from tissue_box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(tissue)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_pull_wet_wipe_episode_12_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Draw a piece of paper from tissue_box> as the goal, steps so far are shown in the video, is step 5-place(tissue, desktop) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_put_paper_upside_down_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the paper over> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, paper),2-grasp(paper),3-pick_up(paper),4-turn(paper, clockwise, the_back_of_paper)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_put_paper_upside_down_episode_5_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the paper over> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-turn(paper, clockwise, the_back_of_paper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_put_paper_upside_down_episode_5_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the paper over> as the goal, steps so far are shown in the video, is step 3-pick_up(paper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_put_rag_on_laptop_orange_episode_2_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Covering a laptop with a rag> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(orange_rag, laptop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_put_rag_on_laptop_orange_episode_2_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Covering a laptop with a rag> as the goal, steps so far are shown in the video, is step 2-grasp(orange_rag) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_put_rag_on_laptop_yellow_episode_15_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Covering a laptop with a rag> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(yellow_rag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_put_rag_on_laptop_yellow_episode_15_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Covering a laptop with a rag> as the goal, steps so far are shown in the video, is step 2-grasp(yellow_rag) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_unwind_charging_cable_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Straightening a charging cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, charging_cable),2-grasp(charging_cable),3-pick_up(charging_cable),4-place(charging_cable)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_unwind_charging_cable_episode_6_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Straightening a charging cable> as the goal, steps so far are shown in the video, is step 2-grasp(charging_cable) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_cherry_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wiping a spill> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(wipe),2-wipe(wipe, spill,table),",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_cherry_episode_7_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wiping a spill> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-wipe(wipe, spill, table),",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_cherry_episode_7_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wiping a spill> as the goal, steps so far are shown in the video, is step 1-grasp(wipe) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_glass_water_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the glass with a sponge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, sponge),2-grasp(sponge),3-pick_up(sponge),4-move_to(sponge, glass),5-wipe(sponge, stain,glass),6-place(sponge,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_glass_water_episode_1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the glass with a sponge> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(sponge, glass)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_glass_water_episode_1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the glass with a sponge> as the goal, steps so far are shown in the video, is step 1-move_to(none, sponge) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_laptop_water_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wiping a laptop lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, orange_rag),2-grasp(orange_rag),3-pick_up(orange_rag),4-move_to(rag, laptop_lid),5-wipe(rag, none,laptop_lid),6-place(orange_rag,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_laptop_water_episode_12_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wiping a laptop lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-wipe(rag, none, laptop_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/RDT-FT_imgs_1_wipe_laptop_water_episode_12_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wiping a laptop lid> as the goal, steps so far are shown in the video, is step 4-move_to(rag, laptop_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_635_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-wipe(cloth, none,table),4-place(cloth,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_635_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-wipe(cloth, none, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_635_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1299_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth to the side of the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(towel, table),4-place(towel, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1299_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth to the side of the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1299_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth to the side of the pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_2264_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unloading clothes from a laundry machine> as the goal, steps so far are shown in the video, is step 1-move_to(none, laundry_machine) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8050_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <loading clothes into a washing machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, gray_clothing),2-grasp(gray_clothing),3-pick_up(gray_clothing),4-move_to(gray_clothing, washing_machine),5-place(gray_clothing, washing_machine)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8050_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <loading clothes into a washing machine> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(gray_clothing)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8050_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <loading clothes into a washing machine> as the goal, steps so far are shown in the video, is step 1-move_to(none, gray_clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_4530_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Unfold the green cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(corner_of_the_cloth),3-unfold(corner_of_the_cloth, left_side_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_4530_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Unfold the green cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(corner_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_4530_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Unfold the green cloth> as the goal, steps so far are shown in the video, is step 2-grasp(corner_of_the_cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8555_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(corner_of_the_cloth),3-unfold(cloth, none)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8555_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(corner_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8555_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth next to cans> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, cans)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth next to cans> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12844_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, bottom_right_corner_of_the_cloth),2-grasp(right_corner_of_the_cloth),3-fold(right_corner_of_the_cloth, left_conrner_of_the_cloth),4-place(cloth,none)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12844_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(right_corner_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12844_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottom_right_corner_of_the_cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_2597_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a bag on a hook> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_2597_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a bag on a hook> as the goal, steps so far are shown in the video, is step 1-move_to(none, bag_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_883_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(towel, left_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4012_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <inserting a rope into a channel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, the_end_of_rope),2-grasp(the_end_of_rope),3-pick_up(the_end_of_rope),4-move_to(the_end_of_rope, channel_right),5-insert(the_end_of_rope, channel_right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4012_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <inserting a rope into a channel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(the_end_of_rope, channel_right)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4160_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfold a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, edge_of_the_towel),2-grasp(edge_of_the_towel),3-unfold(towel, right_side_of_the_towel),4-place(towel, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4462_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-wipe(cloth, water_stains, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4462_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_4462_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a counter> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_11289_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Unfold a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(top_edge_of_the_towel),3-unfold(top_edge_of_the_towel, right_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_11289_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Unfold a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-unfold(top_edge_of_the_towel, right_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_11289_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Unfold a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14967_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Straightening a  wire> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, wire_end),2-grasp(wire_end),3-pick_up(wire_end),4-move_to(cable_end, side_of_the_table),5-place(cable_end, side_of_the_table),6-move_to(none,line_tail),7-grasp(line_tail),8-place(line_tail,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14967_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Straightening a  wire> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(wire_end)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_14967_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Straightening a  wire> as the goal, steps so far are shown in the video, is step 2-grasp(wire_end) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_15504_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, pan),5-wipe(towel, none, pan)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_15504_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_15504_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a pan> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_15559_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing trash into a bin> as the goal, steps so far are shown in the video, is step 1-move_to(none, trash) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_23988_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unhanging a cloth from a hook and placing it on the countertop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cloth_hanging_on_the_hook),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, countertop),5-place(cloth, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_24646_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a towel to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(towel, right_of_desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_26442_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the black clothing in the cardboard box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,black_ clothing),2-grasp(black_clothing),3-pick_up(black_clothing),4-move_to(none, box_with_the_clothing),5-place(black_clothing, cardboard_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_26442_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the black clothing in the cardboard box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(black_clothing)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_32457_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a cloth in half> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, right_side_of_cloth),2-grasp(right_side_of_cloth),3-pick_up(cloth),4-fold(right_side_of_cloth, left_side_of_the_cloth),5-place(cloth, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_32457_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a cloth in half> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_32457_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fold a cloth in half> as the goal, steps so far are shown in the video, is step 1-move_to(none, right_side_of_cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_35601_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <dropping a towel onto a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_35685_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing an item of clothing inside a washing machine> as the goal, steps so far are shown in the video, is step 1-move_to(none, clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40020_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel once> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, left_side_of_towel),2-grasp(left_side_of_towel),3-fold(left_side_of_the_towel, right_side_of_towel),4-place(towel, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40020_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel once> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(left_side_of_the_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40020_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel once> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_side_of_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40218_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a counter and hanging a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, counter),5-wipe(towel, none, counter),6-move_to(towel, wall),7-place(towel, wall)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40218_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a counter and hanging a towel> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40847_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Clean the desktop with a towel and put the towel in the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-wipe(towel, items, desktop),4-pick_up(towel),5-move_to(towel, bin),6-place(towel, bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40847_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Clean the desktop with a towel and put the towel in the basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-wipe(towel, items, desktop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40847_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Clean the desktop with a towel and put the towel in the basket> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40937_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel on the armrest of a couch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, couch_armrest),5-place(towel, couch_armrest)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40937_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel on the armrest of a couch> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_40937_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel on the armrest of a couch> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_42022_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a charger cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, charger_cable_one_end),2-grasp(charger_cable_one_end),3-pick_up(charger_cable_one_end),4-move_to(ccharger_cable_one_end, right_of_board),5-place(charger_cable_one_end, right_of_board),6-move_to(none, charger_cable_other_end),7-grasp(charger_cable_other_end),8-pick_up(charger_cable_other_end),9-move_to(charger_cable_other_end, left_of_board),10-place(charger_cable_one_end, left_of_board)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_42022_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a charger cable> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, charger_cable_other_end)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_42022_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a charger cable> as the goal, steps so far are shown in the video, is step 4-move_to(ccharger_cable_one_end, right_of_board) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_43043_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a curtain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, curtain),2-grasp(curtain),3-pull(curtain, left_side)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_43043_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a curtain> as the goal, steps so far are shown in the video, is step 1-move_to(none, curtain) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_44959_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the clothes into the paper bag> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(black_clothing)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_44959_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the clothes into the paper bag> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_45354_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe a pan with a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, pan),5-wipe(towel, none, inside_of_pan),6-move_to(towel, table),7-place(towel, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_45354_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe a pan with a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(towel, pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_45354_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe a pan with a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_47683_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <arrange two pillows on a couch> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(right_pillow, right_side_of_couch)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_47683_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <arrange two pillows on a couch> as the goal, steps so far are shown in the video, is step 5-place(right_pillow, right_side_of_couch) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49058_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a towel to the left side of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(towel, left_side_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49058_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a towel to the left side of a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49103_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, pan),5-wipe(towel, none,pan),6-move_to(towel, table),7-place(towel, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49103_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49103_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a pan> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49218_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a towel from a basket to a chair> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel_in_the_basket),2-grasp(towel),3-pick_up(towel),4-move_to(towel, chair),5-place(towel, chair)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_49218_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a towel from a basket to a chair> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_53797_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth from a stand to a counter> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_54494_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Throw the waste paper in the drawer into the trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, waste_paper_in_drawer),2-grasp(waste_paper),3-pick_up(waste_paper),4-move_to(waste_paper, trash_bin),5-place(waste_paper, trash_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_54494_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Throw the waste paper in the drawer into the trash bin> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(waste_paper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_54494_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Throw the waste paper in the drawer into the trash bin> as the goal, steps so far are shown in the video, is step 1-move_to(none, waste_paper_in_drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_55592_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, none, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_55592_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_55592_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_56895_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open the curtain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, curtain),2-grasp(curtain),3-pull(curtain, left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_56895_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open the curtain> as the goal, steps so far are shown in the video, is step 1-move_to(none, curtain) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_59811_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the top of a wooden box and close the lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, napkin),2-grasp(napkin),3-pick_up(napkin),4-move_to(napkin, box),5-wipe(napkin,none, box_lid),6-move_to(napkin,table),7-place(napkin,table),8-move_to(none, box_lid),9-grasp(box_lid),10-pull(box_lid, inside)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_59811_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the top of a wooden box and close the lid> as the goal, steps so far are shown in the video, is step 3-pick_up(napkin) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_64775_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a towel from the wall and place it on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel_hanging_on_the_wall),2-grasp(towel),3-pick_up(towel),4-move_to(towel, counter),5-place(towel, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_64775_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a towel from the wall and place it on the counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_64775_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a towel from the wall and place it on the counter> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_65354_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a piece of paper into a bin> as the goal, steps so far are shown in the video, is step 1-move_to(none, paper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_68369_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a countertop with a towel and rehanging the towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, towel_hanging_on_the_wall),2-grasp(towel),3-pick_up(towel),4-move_to(towel, countertop),5-wipe(towel,water_stains, countertop),6-move_to(towel, hook_on_the_wall),7-place(towel, hook_on_the_wall)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_68369_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping a countertop with a towel and rehanging the towel> as the goal, steps so far are shown in the video, is step 3-pick_up(towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_72019_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a container after clearing the space in front of it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(towel, table_left),4-pick_up(towel),5-move_to(towel,basket),6-place(towel, basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_72019_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a container after clearing the space in front of it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_72019_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a container after clearing the space in front of it> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_73045_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the towel in half twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(corner_of_the_towel),3-fold(grasped_corner, diagonal_corner),4-move_to(none, towel),5-grasp(corner_of_the_ towel),6-fold(grasped_corner, diagonal_corner)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_73045_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the towel in half twice> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(corner_of_the_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_73045_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the towel in half twice> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79391_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a sweatshirt> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, sweatshirt),2-grasp(sleeves_of_the_sweatshirt),3-unfold(sleeves_of_the_sweatshirt, right_side_of_the_sweatshirt),4-move_to(none, sweatshirt),5-grasp(another_sleeves_of_sweatshirt),6-unfold(another_sleeves_of_sweatshirt, left_side_of_the_sweatshirt)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79391_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a sweatshirt> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(sleeves_of_the_sweatshirt)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79391_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a sweatshirt> as the goal, steps so far are shown in the video, is step 1-move_to(none, sweatshirt) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79451_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a storage box after clearing the area in front of it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pull(towel, left_side_of_the_table),4-pick_up(towel),5-move_to(towel, storage_box),6-place(towel, storage_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79451_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a storage box after clearing the area in front of it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_79451_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a storage box after clearing the area in front of it> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_80811_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth to a drawer> as the goal, steps so far are shown in the video, is step 3-pick_up(cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_81677_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a rag on a hook> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(rag, hook)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_81677_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a rag on a hook> as the goal, steps so far are shown in the video, is step 4-move_to(rag, hook) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_81862_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a charger cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, the_end_of_the_charger),2-grasp(the_end_of_the_charger),3-pull(charger, right_side_of_table),4-place(charger,table),5-move_to(charger, the_another_end_of_the_charger),6-grasp(the_another_end_of_the_charger,table),7-pull(charger, left_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_81862_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a charger cable> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-place(charger, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_81862_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a charger cable> as the goal, steps so far are shown in the video, is step 3-pull(charger, right_side_of_table) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_82406_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a pair of jeans> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, jeans),2-grasp(edge_of_the_left_leg),3-unfold(edge_of_the_left_leg, right_of_the_jeans)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_82406_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a pair of jeans> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(edge_of_the_left_leg)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_82406_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a pair of jeans> as the goal, steps so far are shown in the video, is step 1-move_to(none, jeans) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_82723_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, right_side_of_towel),2-grasp(right_side_of_towel),3-fold(right_side_of_towel, left_side_of_towel),4-move_to(none, left_side_of_towel),5-grasp(left_side_of_towel),6-fold(left_side_of_towel, right_side_of_towel),7-move_to(none, left_side_of_towel),8-grasp(left_side_of_towel),9-fold(left_side_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_82723_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, left_side_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_82723_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 4-move_to(none, left_side_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_83715_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, edge_of_towel),2-grasp(edge_of_towel),3-unfold(edge_of_towe, left_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_83715_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(edge_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_83715_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a towel> as the goal, steps so far are shown in the video, is step 2-grasp(edge_of_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_86956_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none, marker_pen),2-grasp(marker_pen),3-pick_up(marker_pen),4-move_to(marker_pen, towel),5-place(marker_pen,towel),6-move_to(none, towel),7-grasp(towel_left_corner),8-fold(towel_left_corner,towel_right_corner),9-move_to(none, folded_towel),10-grasp(folded_towel),11-pick_up(folded_towel),12-move_to(folded_towel, box),13-place(folded_towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_86956_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(marker_pen, towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_86956_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, steps so far are shown in the video, is step 1-move_to(none, marker_pen) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_88658_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the curtain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, curtain),2-grasp(curtain),3-pull(curtain, left_side_of_the_curtain)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_88658_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the curtain> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(curtain)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/deformable/images/rtx_frames__new_85_85_droid#episode_88658_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "deformable"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the curtain> as the goal, steps so far are shown in the video, is step 1-move_to(none, curtain) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  }
+]
\ No newline at end of file
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+      "pick_up(blueberries)",
+      "move_to(blueberries,pan)",
+      "place(blueberries, pan)"
+    ],
+    "gt_dag": {
+      "move_to(none,pan)": [
+        "grasp( pan_edge)"
+      ],
+      "grasp( pan_edge)": [
+        "pick_up(pan)"
+      ],
+      "pick_up(pan)": [
+        "move_to(pan,left_stove)"
+      ],
+      "move_to(pan,left_stove)": [
+        "place(pan, left_stove)"
+      ],
+      "place(pan, left_stove)": [
+        "move_to(none, blueberries)"
+      ],
+      "move_to(none, blueberries)": [
+        "grasp(blueberries)"
+      ],
+      "grasp(blueberries)": [
+        "pick_up(blueberries)"
+      ],
+      "pick_up(blueberries)": [
+        "move_to(blueberries,pan)"
+      ],
+      "move_to(blueberries,pan)": [
+        "place(blueberries, pan)"
+      ],
+      "place(blueberries, pan)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rt_frames_success_rtx_frames_success_18_49_bridge#episode_9632.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35913",
+    "actions_list": [
+      "move_to(none,pot)",
+      "grasp(pot_edge)",
+      "pick_up(pan)",
+      "move_to(pan,left_stove)",
+      "place(pot,left_ stove)",
+      "move_to(none, blueberries)",
+      "grasp(blueberry)",
+      "pick_up(blueberry)",
+      "move_to(blueberry,pot)",
+      "place(blueberry,pot)"
+    ],
+    "gt_dag": {
+      "move_to(none,pot)": [
+        "grasp(pot_edge)"
+      ],
+      "grasp(pot_edge)": [
+        "pick_up(pan)"
+      ],
+      "pick_up(pan)": [
+        "move_to(pan,left_stove)"
+      ],
+      "move_to(pan,left_stove)": [
+        "place(pot,left_ stove)"
+      ],
+      "place(pot,left_ stove)": [
+        "move_to(none, blueberries)"
+      ],
+      "move_to(none, blueberries)": [
+        "grasp(blueberry)"
+      ],
+      "grasp(blueberry)": [
+        "pick_up(blueberry)"
+      ],
+      "pick_up(blueberry)": [
+        "move_to(blueberry,pot)"
+      ],
+      "move_to(blueberry,pot)": [
+        "place(blueberry,pot)"
+      ],
+      "place(blueberry,pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35913.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_33",
+    "actions_list": [
+      "move_to(none, first_tea_bag)",
+      "graps(first_tea_bag)",
+      "pick_up(first_tea_bag)",
+      "move_to(first_tea_bag,blue_cup)",
+      "place(first_tea_bag,blue_cup)",
+      "move_to(none,second_tea_bag)",
+      "graps(second_tea_bag)",
+      "pick_up(second_tea_bag)",
+      "move_to(second_tea_bag,yellow_cup)",
+      "place(second_tea_bag,yellow_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_tea_bag)": [
+        "graps(first_tea_bag)"
+      ],
+      "graps(first_tea_bag)": [
+        "pick_up(first_tea_bag)"
+      ],
+      "pick_up(first_tea_bag)": [
+        "move_to(first_tea_bag,blue_cup)"
+      ],
+      "move_to(first_tea_bag,blue_cup)": [
+        "place(first_tea_bag,blue_cup)"
+      ],
+      "place(first_tea_bag,blue_cup)": [],
+      "move_to(none,second_tea_bag)": [
+        "graps(second_tea_bag)"
+      ],
+      "graps(second_tea_bag)": [
+        "pick_up(second_tea_bag)"
+      ],
+      "pick_up(second_tea_bag)": [
+        "move_to(second_tea_bag,yellow_cup)"
+      ],
+      "move_to(second_tea_bag,yellow_cup)": [
+        "place(second_tea_bag,yellow_cup)"
+      ],
+      "place(second_tea_bag,yellow_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_33.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_829",
+    "actions_list": [
+      "move_to(none, book)",
+      "grasp(book_cover)",
+      "turn(book_cover,clockwise,state_cover)",
+      "move_to(none, box)",
+      "grasp(box_lid)",
+      "push(box_cover,open_the_lid_of_the_box)"
+    ],
+    "gt_dag": {
+      "move_to(none, book)": [
+        "grasp(book_cover)"
+      ],
+      "grasp(book_cover)": [
+        "turn(book_cover,clockwise,state_cover)"
+      ],
+      "turn(book_cover,clockwise,state_cover)": [
+        "move_to(none, box)"
+      ],
+      "move_to(none, box)": [
+        "grasp(box_lid)"
+      ],
+      "grasp(box_lid)": [
+        "push(box_cover,open_the_lid_of_the_box)"
+      ],
+      "push(box_cover,open_the_lid_of_the_box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_829.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_2609",
+    "actions_list": [
+      "move_to(none,white_towel)",
+      "grasp(white_towel)",
+      "pick_up(white_towel)",
+      "move_to(white_towel,basket)",
+      "place(white_towel, basket)",
+      "move_to(none,marker_pen)",
+      "grasp(marker_pen)",
+      "pick_up(marker_pen)",
+      "move_to(marker_pen, mug)",
+      "place(marker_pen, mug)",
+      "move_to(none,yellow_towel)",
+      "grasp(yellow_towel)",
+      "pick_up(yellow_towel)",
+      "move_to(yellow_towel,basket)",
+      "place(yellow_towel, basket)",
+      "move_to(none,tape)",
+      "grasp(tape)",
+      "pick_up(tape)",
+      "move_to(tape, mug)",
+      "place(tape, mug)"
+    ],
+    "gt_dag": {
+      "move_to(none,white_towel)": [
+        "grasp(white_towel)"
+      ],
+      "grasp(white_towel)": [
+        "pick_up(white_towel)"
+      ],
+      "pick_up(white_towel)": [
+        "move_to(white_towel,basket)"
+      ],
+      "move_to(white_towel,basket)": [
+        "place(white_towel, basket)"
+      ],
+      "place(white_towel, basket)": [],
+      "move_to(none,marker_pen)": [
+        "grasp(marker_pen)"
+      ],
+      "grasp(marker_pen)": [
+        "pick_up(marker_pen)"
+      ],
+      "pick_up(marker_pen)": [
+        "move_to(marker_pen, mug)"
+      ],
+      "move_to(marker_pen, mug)": [
+        "place(marker_pen, mug)"
+      ],
+      "place(marker_pen, mug)": [],
+      "move_to(none,yellow_towel)": [
+        "grasp(yellow_towel)"
+      ],
+      "grasp(yellow_towel)": [
+        "pick_up(yellow_towel)"
+      ],
+      "pick_up(yellow_towel)": [
+        "move_to(yellow_towel,basket)"
+      ],
+      "move_to(yellow_towel,basket)": [
+        "place(yellow_towel, basket)"
+      ],
+      "place(yellow_towel, basket)": [],
+      "move_to(none,tape)": [
+        "grasp(tape)"
+      ],
+      "grasp(tape)": [
+        "pick_up(tape)"
+      ],
+      "pick_up(tape)": [
+        "move_to(tape, mug)"
+      ],
+      "move_to(tape, mug)": [
+        "place(tape, mug)"
+      ],
+      "place(tape, mug)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_2609.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_2959",
+    "actions_list": [
+      "move_to(none,plate)",
+      "grasp(plate_edge)",
+      "pick_up(plate)",
+      "move_to(plate,nightstand)",
+      "move_to(plate, nightstand)",
+      "place(dish, nightstand)",
+      "move_to(none,glove)",
+      "grasp(glove)",
+      "pick_up(glove)",
+      "move_to(glove,plate)",
+      "place(glove, plate)",
+      "move_to(none,drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer_handle,close_drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none,plate)": [
+        "grasp(plate_edge)"
+      ],
+      "grasp(plate_edge)": [
+        "pick_up(plate)"
+      ],
+      "pick_up(plate)": [
+        "move_to(plate,nightstand)"
+      ],
+      "move_to(plate,nightstand)": [
+        "move_to(plate, nightstand)"
+      ],
+      "move_to(plate, nightstand)": [
+        "place(dish, nightstand)"
+      ],
+      "place(dish, nightstand)": [
+        "move_to(none,glove)"
+      ],
+      "move_to(none,glove)": [
+        "grasp(glove)"
+      ],
+      "grasp(glove)": [
+        "pick_up(glove)"
+      ],
+      "pick_up(glove)": [
+        "move_to(glove,plate)"
+      ],
+      "move_to(glove,plate)": [
+        "place(glove, plate)"
+      ],
+      "place(glove, plate)": [
+        "move_to(none,drawer)"
+      ],
+      "move_to(none,drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_handle,close_drawer)"
+      ],
+      "push(drawer_handle,close_drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_2959.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_6053",
+    "actions_list": [
+      "move_to(none, empty_tissue_paper_core)",
+      "grasp(empty_tissue_paper_core_edge)",
+      "pick_up(empty_tissue_paper_core)",
+      "move_to(empty_tissue_paper_core, table)",
+      "place(empty_tissue_paper_core, table)",
+      "move_to(none, new_paper_towel_roll)",
+      "grasp(new_paper_towel_roll_edge)",
+      "pick_up(new_paper_towel_roll)",
+      "move_to(new_paper_towel_roll,roll paper holder)",
+      "place(new_paper_towel_roll,roll_paper_holder)"
+    ],
+    "gt_dag": {
+      "move_to(none, empty_tissue_paper_core)": [
+        "grasp(empty_tissue_paper_core_edge)"
+      ],
+      "grasp(empty_tissue_paper_core_edge)": [
+        "pick_up(empty_tissue_paper_core)"
+      ],
+      "pick_up(empty_tissue_paper_core)": [
+        "move_to(empty_tissue_paper_core, table)"
+      ],
+      "move_to(empty_tissue_paper_core, table)": [
+        "place(empty_tissue_paper_core, table)"
+      ],
+      "place(empty_tissue_paper_core, table)": [
+        "move_to(none, new_paper_towel_roll)"
+      ],
+      "move_to(none, new_paper_towel_roll)": [
+        "grasp(new_paper_towel_roll_edge)"
+      ],
+      "grasp(new_paper_towel_roll_edge)": [
+        "pick_up(new_paper_towel_roll)"
+      ],
+      "pick_up(new_paper_towel_roll)": [
+        "move_to(new_paper_towel_roll,roll paper holder)"
+      ],
+      "move_to(new_paper_towel_roll,roll paper holder)": [
+        "place(new_paper_towel_roll,roll_paper_holder)"
+      ],
+      "place(new_paper_towel_roll,roll_paper_holder)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_6053.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_12978",
+    "actions_list": [
+      "move_to(none, screwdriver)",
+      "grasp(screwdriver_handle)",
+      "pick_up(screwdriver)",
+      "move_to(screwdriver,drawer)",
+      "place(screwdriver, drawer)",
+      "move_to(none, drawer)",
+      "grasp( drawer_handle)",
+      "push(drawer_handle, drawer_close)"
+    ],
+    "gt_dag": {
+      "move_to(none, screwdriver)": [
+        "grasp(screwdriver_handle)"
+      ],
+      "grasp(screwdriver_handle)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "move_to(screwdriver,drawer)"
+      ],
+      "move_to(screwdriver,drawer)": [
+        "place(screwdriver, drawer)"
+      ],
+      "place(screwdriver, drawer)": [
+        "move_to(none, drawer)"
+      ],
+      "move_to(none, drawer)": [
+        "grasp( drawer_handle)"
+      ],
+      "grasp( drawer_handle)": [
+        "push(drawer_handle, drawer_close)"
+      ],
+      "push(drawer_handle, drawer_close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_12978.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_20648",
+    "actions_list": [
+      "move_to(none,top_drawer)",
+      "grasp(top_drawer_handle)",
+      "pull(top_drawer_handle,state_open)",
+      "move_to(none, tray)",
+      "grasp( tray_edge)",
+      "pick_up(tray)",
+      "move_to(tray, drawer)",
+      "place(tray, drawer)",
+      "move_to(none, screwdriver)",
+      "grasp(screwdriver_handle)",
+      "pick_up(screwdriver)",
+      "move_to(screwdriver, tray)",
+      "place(screwdriver, tray)"
+    ],
+    "gt_dag": {
+      "move_to(none,top_drawer)": [
+        "grasp(top_drawer_handle)"
+      ],
+      "grasp(top_drawer_handle)": [
+        "pull(top_drawer_handle,state_open)"
+      ],
+      "pull(top_drawer_handle,state_open)": [
+        "move_to(none, tray)"
+      ],
+      "move_to(none, tray)": [
+        "grasp( tray_edge)"
+      ],
+      "grasp( tray_edge)": [
+        "pick_up(tray)"
+      ],
+      "pick_up(tray)": [
+        "move_to(tray, drawer)"
+      ],
+      "move_to(tray, drawer)": [
+        "place(tray, drawer)"
+      ],
+      "place(tray, drawer)": [
+        "move_to(none, screwdriver)"
+      ],
+      "move_to(none, screwdriver)": [
+        "grasp(screwdriver_handle)"
+      ],
+      "grasp(screwdriver_handle)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "move_to(screwdriver, tray)"
+      ],
+      "move_to(screwdriver, tray)": [
+        "place(screwdriver, tray)"
+      ],
+      "place(screwdriver, tray)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_20648.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21625",
+    "actions_list": [
+      "move_to(none, gloves)",
+      "grasp(gloves)",
+      "pick_up(gloves)",
+      "move_to(gloves,table_left)",
+      "place(gloves, left)",
+      "move_to(none, orange_object)",
+      "grasp(orange_object)",
+      "pick_up(orange_object)",
+      "move_to(orange_object, drawer)",
+      "place(orange_object, drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, gloves)": [
+        "grasp(gloves)"
+      ],
+      "grasp(gloves)": [
+        "pick_up(gloves)"
+      ],
+      "pick_up(gloves)": [
+        "move_to(gloves,table_left)"
+      ],
+      "move_to(gloves,table_left)": [
+        "place(gloves, left)"
+      ],
+      "place(gloves, left)": [
+        "move_to(none, orange_object)"
+      ],
+      "move_to(none, orange_object)": [
+        "grasp(orange_object)"
+      ],
+      "grasp(orange_object)": [
+        "pick_up(orange_object)"
+      ],
+      "pick_up(orange_object)": [
+        "move_to(orange_object, drawer)"
+      ],
+      "move_to(orange_object, drawer)": [
+        "place(orange_object, drawer)"
+      ],
+      "place(orange_object, drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_21625.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_26064",
+    "actions_list": [
+      "move_to(none, left_drawer)",
+      "grasp(left_drawer_handle)",
+      "push(left_drawer_handle,close)",
+      "move_to(none, right_drawer)",
+      "grasp(right_drawer_handle)",
+      "pull(right_drawer_handle,left)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_drawer)": [
+        "grasp(left_drawer_handle)"
+      ],
+      "grasp(left_drawer_handle)": [
+        "push(left_drawer_handle,close)"
+      ],
+      "push(left_drawer_handle,close)": [
+        "move_to(none, right_drawer)"
+      ],
+      "move_to(none, right_drawer)": [
+        "grasp(right_drawer_handle)"
+      ],
+      "grasp(right_drawer_handle)": [
+        "pull(right_drawer_handle,left)"
+      ],
+      "pull(right_drawer_handle,left)": [],
+      "n": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_26064.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_29808",
+    "actions_list": [
+      "move_to(none, blue_object)",
+      "grasp(blue_object)",
+      "pick_up(blue_object)",
+      "move_to(blue_object, drawer)",
+      "place(blue_object, drawer)",
+      "move_to(none,drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, blue_object)": [
+        "grasp(blue_object)"
+      ],
+      "grasp(blue_object)": [
+        "pick_up(blue_object)"
+      ],
+      "pick_up(blue_object)": [
+        "move_to(blue_object, drawer)"
+      ],
+      "move_to(blue_object, drawer)": [
+        "place(blue_object, drawer)"
+      ],
+      "place(blue_object, drawer)": [
+        "move_to(none,drawer)"
+      ],
+      "move_to(none,drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_handle,close)"
+      ],
+      "push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_29808.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_39181",
+    "actions_list": [
+      "move_to(none, screwdriver)",
+      "grasp(screwdriver_handle)",
+      "pick_up(screwdriver)",
+      "move_to(screwdriver, drawer)",
+      "place(screwdriver, drawer)",
+      "move_to(none,drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, screwdriver)": [
+        "grasp(screwdriver_handle)"
+      ],
+      "grasp(screwdriver_handle)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "move_to(screwdriver, drawer)"
+      ],
+      "move_to(screwdriver, drawer)": [
+        "place(screwdriver, drawer)"
+      ],
+      "place(screwdriver, drawer)": [
+        "move_to(none,drawer)"
+      ],
+      "move_to(none,drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_handle,close)"
+      ],
+      "push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_39181.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_43348",
+    "actions_list": [
+      "move_to(none, marker_pen)",
+      "grasp(marker_pen)",
+      "pick_up(marker_pen)",
+      "move_to(marker_pen, towel)",
+      "place(marker_pen,towel)",
+      "move_to(none, towel)",
+      "grasp(towel_left_corner)",
+      "fold_on(towel_left_corner,towel_right_corner)",
+      "move_to(none, folded_towel)",
+      "grasp(folded_towel)",
+      "pick_up(folded_towel)",
+      "move_to(folded_towel, box)",
+      "place(folded_towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker_pen)": [
+        "grasp(marker_pen)"
+      ],
+      "grasp(marker_pen)": [
+        "pick_up(marker_pen)"
+      ],
+      "pick_up(marker_pen)": [
+        "move_to(marker_pen, towel)"
+      ],
+      "move_to(marker_pen, towel)": [
+        "place(marker_pen,towel)"
+      ],
+      "place(marker_pen,towel)": [
+        "move_to(none, towel)"
+      ],
+      "move_to(none, towel)": [
+        "grasp(towel_left_corner)"
+      ],
+      "grasp(towel_left_corner)": [
+        "fold_on(towel_left_corner,towel_right_corner)"
+      ],
+      "fold_on(towel_left_corner,towel_right_corner)": [
+        "move_to(none, folded_towel)"
+      ],
+      "move_to(none, folded_towel)": [
+        "grasp(folded_towel)"
+      ],
+      "grasp(folded_towel)": [
+        "pick_up(folded_towel)"
+      ],
+      "pick_up(folded_towel)": [
+        "move_to(folded_towel, box)"
+      ],
+      "move_to(folded_towel, box)": [
+        "place(folded_towel, box)"
+      ],
+      "place(folded_towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_43348.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_59157",
+    "actions_list": [
+      "move_to(none, left_top_cabinet_door)",
+      "grasp(left_top_cabinet_door_handle)",
+      "pull(left_top_cabinet_door_handle,left_state_open)",
+      "move_to(none, right_top_cabinet_door)",
+      "grasp(right_top_cabinet_door_handle)",
+      "pull(right_top_cabinet_door_handle,right_state_open)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_top_cabinet_door)": [
+        "grasp(left_top_cabinet_door_handle)"
+      ],
+      "grasp(left_top_cabinet_door_handle)": [
+        "pull(left_top_cabinet_door_handle,left_state_open)"
+      ],
+      "pull(left_top_cabinet_door_handle,left_state_open)": [
+        "move_to(none, right_top_cabinet_door)"
+      ],
+      "move_to(none, right_top_cabinet_door)": [
+        "grasp(right_top_cabinet_door_handle)"
+      ],
+      "grasp(right_top_cabinet_door_handle)": [
+        "pull(right_top_cabinet_door_handle,right_state_open)"
+      ],
+      "pull(right_top_cabinet_door_handle,right_state_open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_59157.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_62700",
+    "actions_list": [
+      "move_to(none, coffee_pod_stand)",
+      "grasp(top_coffee_pod_stand)",
+      "turn(coffee_pod_stand, clockwise,empty_slot_is_located_in _middle)",
+      "move_to(none, loose_coffee_pod)",
+      "grasp(loose_coffee_pod)",
+      "pick_up(loose_coffee_pod)",
+      "move_to(loose_coffee_pod, coffee_pod_stand)",
+      "place(loose_coffee_pod, coffee_pod_stand)"
+    ],
+    "gt_dag": {
+      "move_to(none, coffee_pod_stand)": [
+        "grasp(top_coffee_pod_stand)"
+      ],
+      "grasp(top_coffee_pod_stand)": [
+        "turn(coffee_pod_stand, clockwise,empty_slot_is_located_in _middle)"
+      ],
+      "turn(coffee_pod_stand, clockwise,empty_slot_is_located_in _middle)": [
+        "move_to(none, loose_coffee_pod)"
+      ],
+      "move_to(none, loose_coffee_pod)": [
+        "grasp(loose_coffee_pod)"
+      ],
+      "grasp(loose_coffee_pod)": [
+        "pick_up(loose_coffee_pod)"
+      ],
+      "pick_up(loose_coffee_pod)": [
+        "move_to(loose_coffee_pod, coffee_pod_stand)"
+      ],
+      "move_to(loose_coffee_pod, coffee_pod_stand)": [
+        "place(loose_coffee_pod, coffee_pod_stand)"
+      ],
+      "place(loose_coffee_pod, coffee_pod_stand)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_62700.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_65638",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle_lid)",
+      "pick_up(bottle_lid)",
+      "move_to(bottle_lid, table_left)",
+      "place(bottle_lid,table_left)",
+      "move_to(none,bottle)",
+      "grasp(bottle_above)",
+      "pick_up(bottle)",
+      "move_to(bottle,table_right)",
+      "place(bottle,table_right)",
+      "move_to(none, bottle_lid)",
+      "grasp(bottle_lid)",
+      "pick_up(bottle_lid)",
+      "move_to(bottle_lid, bottle)",
+      "place(bottle_lid,bottle_above)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle_lid)"
+      ],
+      "grasp(bottle_lid)": [
+        "pick_up(bottle_lid)"
+      ],
+      "pick_up(bottle_lid)": [
+        "move_to(bottle_lid, table_left)"
+      ],
+      "move_to(bottle_lid, table_left)": [
+        "place(bottle_lid,table_left)"
+      ],
+      "place(bottle_lid,table_left)": [
+        "move_to(none,bottle)"
+      ],
+      "move_to(none,bottle)": [
+        "grasp(bottle_above)"
+      ],
+      "grasp(bottle_above)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle,table_right)"
+      ],
+      "move_to(bottle,table_right)": [
+        "place(bottle,table_right)"
+      ],
+      "place(bottle,table_right)": [
+        "move_to(none, bottle_lid)"
+      ],
+      "move_to(none, bottle_lid)": [
+        "grasp(bottle_lid)<2>"
+      ],
+      "grasp(bottle_lid)<1>": [],
+      "pick_up(bottle_lid)<1>": [],
+      "move_to(bottle_lid, bottle)": [
+        "place(bottle_lid,bottle_above)"
+      ],
+      "place(bottle_lid,bottle_above)": [],
+      "grasp(bottle_lid)<2>": [
+        "pick_up(bottle_lid)<2>"
+      ],
+      "pick_up(bottle_lid)<2>": [
+        "move_to(bottle_lid, bottle)"
+      ],
+      "f": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_65638.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_68640",
+    "actions_list": [
+      "move_to(none, box)",
+      "grasp(box_edge)",
+      "pick_up(box)",
+      "move_to(box,front_of_ microwave )",
+      "place(box, front_of_ microwave)",
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door_handle)",
+      "pull(cabinet_door_handle, open)",
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door)",
+      "pull(cabinet_door_handle,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, box)": [
+        "grasp(box_edge)"
+      ],
+      "grasp(box_edge)": [
+        "pick_up(box)"
+      ],
+      "pick_up(box)": [
+        "move_to(box,front_of_ microwave )"
+      ],
+      "move_to(box,front_of_ microwave )": [
+        "place(box, front_of_ microwave)"
+      ],
+      "place(box, front_of_ microwave)": [
+        "move_to(none, cabinet_door)"
+      ],
+      "move_to(none, cabinet_door)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "pull(cabinet_door_handle, open)"
+      ],
+      "pull(cabinet_door_handle, open)": [
+        "move_to(none, cabinet_door)<2>"
+      ],
+      "move_to(none, cabinet_door)<1>": [],
+      "grasp(cabinet_door)": [
+        "pull(cabinet_door_handle,open)"
+      ],
+      "pull(cabinet_door_handle,open)": [],
+      "move_to(none, cabinet_door)<2>": [
+        "grasp(cabinet_door)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_68640.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_69895",
+    "actions_list": [
+      "move_to(none, faucet)",
+      "grasp(faucet)",
+      "turn(fauce, anticlockwise,central_pool)",
+      "move_to(none, coffee_cup)",
+      "grasp (coffee_cup_edge)",
+      "pick_up (coffee_cup)",
+      "move_to(coffee_cup,table)",
+      "place(coffee_cup,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet)": [
+        "grasp(faucet)"
+      ],
+      "grasp(faucet)": [
+        "turn(fauce, anticlockwise,central_pool)"
+      ],
+      "turn(fauce, anticlockwise,central_pool)": [
+        "move_to(none, coffee_cup)"
+      ],
+      "move_to(none, coffee_cup)": [
+        "grasp (coffee_cup_edge)"
+      ],
+      "grasp (coffee_cup_edge)": [
+        "pick_up (coffee_cup)"
+      ],
+      "pick_up (coffee_cup)": [
+        "move_to(coffee_cup,table)"
+      ],
+      "move_to(coffee_cup,table)": [
+        "place(coffee_cup,table)"
+      ],
+      "place(coffee_cup,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_69895.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_70630",
+    "actions_list": [
+      "move_to(none, pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen,bowl_right)",
+      "place(pen,bowl_right)",
+      "move_to(none, bowl)",
+      "grasp(bowl_edge)",
+      "pick_up(bowl)",
+      "move_to(bowl,table_left)",
+      "place(bowl,table_left)"
+    ],
+    "gt_dag": {
+      "move_to(none, pen)": [
+        "grasp(pen)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen,bowl_right)"
+      ],
+      "move_to(pen,bowl_right)": [
+        "place(pen,bowl_right)"
+      ],
+      "place(pen,bowl_right)": [
+        "move_to(none, bowl)"
+      ],
+      "move_to(none, bowl)": [
+        "grasp(bowl_edge)"
+      ],
+      "grasp(bowl_edge)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl,table_left)"
+      ],
+      "move_to(bowl,table_left)": [
+        "place(bowl,table_left)"
+      ],
+      "place(bowl,table_left)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_70630.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_73890",
+    "actions_list": [
+      "move_to(none,bowl)",
+      "grasp(bowl_edge)",
+      "pick_up(bowl)",
+      "pour(bowl,paper,table)",
+      "move_to(bowl,table)",
+      "place(bowl,table)",
+      "move_to(none,broom)",
+      "grasp(broom_handle)",
+      "pick_up(broom)",
+      "wipe(broom,paper,table_left)"
+    ],
+    "gt_dag": {
+      "move_to(none,bowl)": [
+        "grasp(bowl_edge)"
+      ],
+      "grasp(bowl_edge)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "pour(bowl,paper,table)"
+      ],
+      "pour(bowl,paper,table)": [
+        "move_to(bowl,table)"
+      ],
+      "move_to(bowl,table)": [
+        "place(bowl,table)"
+      ],
+      "place(bowl,table)": [
+        "move_to(none,broom)"
+      ],
+      "move_to(none,broom)": [
+        "grasp(broom_handle)"
+      ],
+      "grasp(broom_handle)": [
+        "pick_up(broom)"
+      ],
+      "pick_up(broom)": [
+        "wipe(broom,paper,table_left)"
+      ],
+      "wipe(broom,paper,table_left)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_73890.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-91_episode-4_rgbd-1",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,front_side_of_drawer)",
+      "move_to(none,  blocks)",
+      "grasp( blocks)",
+      "pick_up( blocks)",
+      "move_to( blocks, tablecloth)",
+      "place(blocks, tablecloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,front_side_of_drawer)"
+      ],
+      "pull(drawer_handle,front_side_of_drawer)": [
+        "move_to(none,  blocks)"
+      ],
+      "move_to(none,  blocks)": [
+        "grasp( blocks)"
+      ],
+      "grasp( blocks)": [
+        "pick_up( blocks)"
+      ],
+      "pick_up( blocks)": [
+        "move_to( blocks, tablecloth)"
+      ],
+      "move_to( blocks, tablecloth)": [
+        "place(blocks, tablecloth)"
+      ],
+      "place(blocks, tablecloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-91_episode-4_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-71_episode-3_rgbd-1",
+    "actions_list": [
+      "move_to(none, blocks)",
+      "grasp(blocks)",
+      "pick_up(blocks)",
+      "move_to(blocks, drawer)",
+      "place(blocks,drawer)",
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, blocks)": [
+        "grasp(blocks)"
+      ],
+      "grasp(blocks)": [
+        "pick_up(blocks)"
+      ],
+      "pick_up(blocks)": [
+        "move_to(blocks, drawer)"
+      ],
+      "move_to(blocks, drawer)": [
+        "place(blocks,drawer)"
+      ],
+      "place(blocks,drawer)": [
+        "move_to(none, drawer)"
+      ],
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,drawer)"
+      ],
+      "pull(drawer_handle,drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-71_episode-3_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_swipe_the_letter_episode_0",
+    "actions_list": [
+      "move_to(none,cloth)",
+      "grasp(cloth)",
+      "wipe(cloth,letter_building_block,table)",
+      "move_to(cloth,mid_table))",
+      "place(cloth,mid_table)"
+    ],
+    "gt_dag": {
+      "move_to(none,cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "wipe(cloth,letter_building_block,table)"
+      ],
+      "wipe(cloth,letter_building_block,table)": [
+        "move_to(cloth,mid_table))"
+      ],
+      "move_to(cloth,mid_table))": [
+        "place(cloth,mid_table)"
+      ],
+      "place(cloth,mid_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_RDT-FT_imgs_1_swipe_the_letter_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_clean_pour_water_episode_5",
+    "actions_list": [
+      "right:move_to(none, water_bottle)",
+      "grasp(water_bottle)",
+      "pick_up(water_bottle)",
+      "move_to(water_bottle, mug)",
+      "pour(water_bottle, water,mug)",
+      "move_to(water_bottle, table)",
+      "place(water_bottle,table)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, water_bottle)": [
+        "grasp(water_bottle)"
+      ],
+      "grasp(water_bottle)": [
+        "pick_up(water_bottle)"
+      ],
+      "pick_up(water_bottle)": [
+        "move_to(water_bottle, mug)"
+      ],
+      "move_to(water_bottle, mug)": [
+        "pour(water_bottle, water,mug)"
+      ],
+      "pour(water_bottle, water,mug)": [
+        "move_to(water_bottle, table)"
+      ],
+      "move_to(water_bottle, table)": [
+        "place(water_bottle,table)"
+      ],
+      "place(water_bottle,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_RDT-FT_imgs_1_clean_pour_water_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-6_rgbd-cam_high",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(sponge, dispenser)",
+      "press(black_button)",
+      "hold(bottle)",
+      "move_to(bottle, table)",
+      "place(bottle,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(sponge, dispenser)"
+      ],
+      "move_to(sponge, dispenser)": [
+        "press(black_button)"
+      ],
+      "press(black_button)": [
+        "hold(bottle)"
+      ],
+      "hold(bottle)": [
+        "move_to(bottle, table)"
+      ],
+      "move_to(bottle, table)": [
+        "place(bottle,table)"
+      ],
+      "place(bottle,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-6_rgbd-cam_high.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(sponge, dispenser)",
+      "press(black_button)",
+      "hold(bottle)",
+      "move_to(bottle, table)",
+      "place(bottle,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(sponge, dispenser)"
+      ],
+      "move_to(sponge, dispenser)": [
+        "press(black_button)"
+      ],
+      "press(black_button)": [
+        "hold(bottle)"
+      ],
+      "hold(bottle)": [
+        "move_to(bottle, table)"
+      ],
+      "move_to(bottle, table)": [
+        "place(bottle,table)"
+      ],
+      "place(bottle,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40516",
+    "actions_list": [
+      "move_to(none, chess)",
+      "grasp(cheese)",
+      "pick_up(cheese)",
+      "move_to(cheese, plate)",
+      "place(cheese,plate)",
+      "move_to(none, sausage)",
+      "grasp(sausage)",
+      "pick_up(sausage)",
+      "move_to(sausage, pot)",
+      "place(sausage,pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, chess)": [
+        "grasp(cheese)"
+      ],
+      "grasp(cheese)": [
+        "pick_up(cheese)"
+      ],
+      "pick_up(cheese)": [
+        "move_to(cheese, plate)"
+      ],
+      "move_to(cheese, plate)": [
+        "place(cheese,plate)"
+      ],
+      "place(cheese,plate)": [],
+      "move_to(none, sausage)": [
+        "grasp(sausage)"
+      ],
+      "grasp(sausage)": [
+        "pick_up(sausage)"
+      ],
+      "pick_up(sausage)": [
+        "move_to(sausage, pot)"
+      ],
+      "move_to(sausage, pot)": [
+        "place(sausage,pot)"
+      ],
+      "place(sausage,pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40516.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_4058",
+    "actions_list": [
+      "move_to(none, paper_trash )",
+      "grasp(paper_trash)",
+      "pick_up(paper_trash)",
+      "move_to(paper_trash, paper_bin)",
+      "place(paper_trash, paper_bin)",
+      "move_to(none, paper_trash )",
+      "grasp(paper_trash)",
+      "pick_up(paper_trash)",
+      "move_to(paper_trash, paper_bin)",
+      "place(paper_trash, paper_bin)",
+      "move_to(none, paper_trash )",
+      "grasp(paper_trash)",
+      "pick_up(paper_trash)",
+      "move_to(paper_trash, paper_bin)",
+      "place(paper_trash, paper_bin)",
+      "move_to(none, paper_trash )",
+      "grasp(paper_trash)",
+      "pick_up(paper_trash)",
+      "move_to(paper_trash, paper_bin)",
+      "place(paper_trash, paper_bin)"
+    ],
+    "gt_dag": {
+      "move_to(none, paper_trash )": [
+        "grasp(paper_trash)"
+      ],
+      "grasp(paper_trash)": [
+        "pick_up(paper_trash)"
+      ],
+      "pick_up(paper_trash)": [
+        "move_to(paper_trash, paper_bin)"
+      ],
+      "move_to(paper_trash, paper_bin)": [
+        "place(paper_trash, paper_bin)"
+      ],
+      "place(paper_trash, paper_bin)": [],
+      "move_to(none, paper_trash )<1>": [],
+      "grasp(paper_trash)<1>": [],
+      "pick_up(paper_trash)<1>": [],
+      "move_to(paper_trash, paper_bin)<1>": [],
+      "place(paper_trash, paper_bin)<1>": [],
+      "move_to(none, paper_trash )<2>": [],
+      "grasp(paper_trash)<2>": [],
+      "pick_up(paper_trash)<2>": [],
+      "move_to(paper_trash, paper_bin)<2>": [],
+      "place(paper_trash, paper_bin)<2>": [],
+      "move_to(none, paper_trash )<3>": [],
+      "grasp(paper_trash)<3>": [],
+      "pick_up(paper_trash)<3>": [],
+      "move_to(paper_trash, paper_bin)<3>": [],
+      "place(paper_trash, paper_bin)<3>": [],
+      "move_to(none, paper_trash )<4>": [
+        "grasp(paper_trash)<4>"
+      ],
+      "grasp(paper_trash)<4>": [
+        "pick_up(paper_trash)<4>"
+      ],
+      "pick_up(paper_trash)<4>": [
+        "move_to(paper_trash, paper_bin)<4>"
+      ],
+      "move_to(paper_trash, paper_bin)<4>": [
+        "place(paper_trash, paper_bin)<4>"
+      ],
+      "place(paper_trash, paper_bin)<4>": [],
+      "move_to(none, paper_trash )<5>": [
+        "grasp(paper_trash)<5>"
+      ],
+      "grasp(paper_trash)<5>": [
+        "pick_up(paper_trash)<5>"
+      ],
+      "pick_up(paper_trash)<5>": [
+        "move_to(paper_trash, paper_bin)<5>"
+      ],
+      "move_to(paper_trash, paper_bin)<5>": [
+        "place(paper_trash, paper_bin)<5>"
+      ],
+      "place(paper_trash, paper_bin)<5>": [],
+      "move_to(none, paper_trash )<6>": [
+        "grasp(paper_trash)<6>"
+      ],
+      "grasp(paper_trash)<6>": [
+        "pick_up(paper_trash)<6>"
+      ],
+      "pick_up(paper_trash)<6>": [
+        "move_to(paper_trash, paper_bin)<6>"
+      ],
+      "move_to(paper_trash, paper_bin)<6>": [
+        "place(paper_trash, paper_bin)<6>"
+      ],
+      "place(paper_trash, paper_bin)<6>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_4058.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_9683",
+    "actions_list": [
+      "move_to(none, green_pot)",
+      "grasp(green_pot)",
+      "pick_up(green_pot)",
+      "pour(green_pot, coffee_benas, green_bowl)",
+      "place(green_pot, table)",
+      "move_to(none, zucchini )",
+      "grasp(zucchini)",
+      "pick_up(zucchini)",
+      "place(zucchini, green_pot)",
+      "move_to(none, purple_grapes )",
+      "grasp(purple_grapes)",
+      "pick_up(purple_grapes)",
+      "place(purple_grapes, green_pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, green_pot)": [
+        "grasp(green_pot)"
+      ],
+      "grasp(green_pot)": [
+        "pick_up(green_pot)"
+      ],
+      "pick_up(green_pot)": [
+        "pour(green_pot, coffee_benas, green_bowl)"
+      ],
+      "pour(green_pot, coffee_benas, green_bowl)": [
+        "place(green_pot, table)"
+      ],
+      "place(green_pot, table)": [
+        "move_to(none, zucchini )"
+      ],
+      "move_to(none, zucchini )": [
+        "grasp(zucchini)"
+      ],
+      "grasp(zucchini)": [
+        "pick_up(zucchini)"
+      ],
+      "pick_up(zucchini)": [
+        "place(zucchini, green_pot)"
+      ],
+      "place(zucchini, green_pot)": [
+        "move_to(none, purple_grapes )"
+      ],
+      "move_to(none, purple_grapes )": [
+        "grasp(purple_grapes)"
+      ],
+      "grasp(purple_grapes)": [
+        "pick_up(purple_grapes)"
+      ],
+      "pick_up(purple_grapes)": [
+        "place(purple_grapes, green_pot)"
+      ],
+      "place(purple_grapes, green_pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_9683.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_10810",
+    "actions_list": [
+      "move_to(none, cupboard)",
+      "grasp(cupboard_handle)",
+      "pull(cupborad_handle)",
+      "move_to(none, sugar_container)",
+      "grasp(sugar_container)",
+      "pick_up(sugar_container)",
+      "move_to(suger_container, cupboard)",
+      "place(sugar_container, cupboard)",
+      "move_to(none, cupboard)",
+      "grasp(cupboard_door)",
+      "push(cupboard_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, cupboard)": [
+        "grasp(cupboard_handle)"
+      ],
+      "grasp(cupboard_handle)": [
+        "pull(cupborad_handle)"
+      ],
+      "pull(cupborad_handle)": [
+        "move_to(none, sugar_container)"
+      ],
+      "move_to(none, sugar_container)": [
+        "grasp(sugar_container)"
+      ],
+      "grasp(sugar_container)": [
+        "pick_up(sugar_container)"
+      ],
+      "pick_up(sugar_container)": [
+        "move_to(suger_container, cupboard)"
+      ],
+      "move_to(suger_container, cupboard)": [
+        "place(sugar_container, cupboard)"
+      ],
+      "place(sugar_container, cupboard)": [
+        "move_to(none, cupboard)<2>"
+      ],
+      "move_to(none, cupboard)<1>": [],
+      "grasp(cupboard_door)": [
+        "push(cupboard_door)"
+      ],
+      "push(cupboard_door)": [],
+      "move_to(none, cupboard)<2>": [
+        "grasp(cupboard_door)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_10810.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11076",
+    "actions_list": [
+      "move_to(none, cupboard)",
+      "grasp(cupboard_handle)",
+      "pull(cupborad_handle)",
+      "move_to(none, sugar_container)",
+      "pick_up(sugar_container)",
+      "pick_up(sugar_container)",
+      "move_to(suger_container, table)",
+      "place(sugar_container, table)",
+      "move_to(none, cupboard)",
+      "grasp(cupboard_door)",
+      "push(cupboard_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, cupboard)": [
+        "grasp(cupboard_handle)"
+      ],
+      "grasp(cupboard_handle)": [
+        "pull(cupborad_handle)"
+      ],
+      "pull(cupborad_handle)": [
+        "move_to(none, sugar_container)"
+      ],
+      "move_to(none, sugar_container)": [
+        "pick_up(sugar_container)"
+      ],
+      "pick_up(sugar_container)": [
+        "pick_up(sugar_container)<2>"
+      ],
+      "pick_up(sugar_container)<1>": [],
+      "move_to(suger_container, table)": [
+        "place(sugar_container, table)"
+      ],
+      "place(sugar_container, table)": [
+        "move_to(none, cupboard)<2>"
+      ],
+      "move_to(none, cupboard)<1>": [],
+      "grasp(cupboard_door)": [
+        "push(cupboard_door)"
+      ],
+      "push(cupboard_door)": [],
+      "pick_up(sugar_container)<2>": [
+        "move_to(suger_container, table)"
+      ],
+      "move_to(none, cupboard)<2>": [
+        "grasp(cupboard_door)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_11076.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11077",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, pot)",
+      "stir(spoon, food,pot)",
+      "move_to(spoon, table)",
+      "place(spoon, table)",
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, pot)",
+      "place(pot_lie,pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, pot)"
+      ],
+      "move_to(spoon, pot)": [
+        "stir(spoon, food,pot)"
+      ],
+      "stir(spoon, food,pot)": [
+        "move_to(spoon, table)"
+      ],
+      "move_to(spoon, table)": [
+        "place(spoon, table)"
+      ],
+      "place(spoon, table)": [
+        "move_to(none, pot_lid)"
+      ],
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid_handle)"
+      ],
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid, pot)"
+      ],
+      "move_to(pot_lid, pot)": [
+        "place(pot_lie,pot)"
+      ],
+      "place(pot_lie,pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_11077.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_15941",
+    "actions_list": [
+      "move_to(none, faucet)",
+      "grasp(faucet_switch)",
+      "pick_up(faucet_switch)",
+      "grasp(faucet)",
+      "turn(faucet, clockwise, middle_of_sink)",
+      "move_to(none, jug)",
+      "grasp(jug)",
+      "pick_up(jug)",
+      "hold(jug)",
+      "move_to(jug, table)",
+      "place(jug, table)",
+      "move_to(none, faucet)",
+      "grasp(faucet_switch)",
+      "press(faucet)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet)": [
+        "grasp(faucet_switch)"
+      ],
+      "grasp(faucet_switch)": [
+        "pick_up(faucet_switch)"
+      ],
+      "pick_up(faucet_switch)": [
+        "grasp(faucet)"
+      ],
+      "grasp(faucet)": [
+        "turn(faucet, clockwise, middle_of_sink)"
+      ],
+      "turn(faucet, clockwise, middle_of_sink)": [
+        "move_to(none, jug)"
+      ],
+      "move_to(none, jug)": [
+        "grasp(jug)"
+      ],
+      "grasp(jug)": [
+        "pick_up(jug)"
+      ],
+      "pick_up(jug)": [
+        "hold(jug)"
+      ],
+      "hold(jug)": [
+        "move_to(jug, table)"
+      ],
+      "move_to(jug, table)": [
+        "place(jug, table)"
+      ],
+      "place(jug, table)": [
+        "move_to(none, faucet)<2>"
+      ],
+      "move_to(none, faucet)<1>": [],
+      "grasp(faucet_switch)<1>": [],
+      "press(faucet)": [],
+      "grasp(faucet_switch)<2>": [
+        "press(faucet)"
+      ],
+      "move_to(none, faucet)<2>": [
+        "grasp(faucet_switch)<2>"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_15941.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24701",
+    "actions_list": [
+      "move_to(none, mug)",
+      "grasp(mug)",
+      "pick_up(mug)",
+      "hold(mug)",
+      "move_to(mug, table)",
+      "place(mug, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, mug)": [
+        "grasp(mug)"
+      ],
+      "grasp(mug)": [
+        "pick_up(mug)"
+      ],
+      "pick_up(mug)": [
+        "hold(mug)"
+      ],
+      "hold(mug)": [
+        "move_to(mug, table)"
+      ],
+      "move_to(mug, table)": [
+        "place(mug, table)"
+      ],
+      "place(mug, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_24701.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_27523",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(pot)",
+      "pick_up(pot)",
+      "move_to(pot, scale)",
+      "place(pot, scale)",
+      "move_to(none, mug)",
+      "grasp(mug_handle)",
+      "pick_up(mug)",
+      "move_to(mug, pot)",
+      "pour(mug, contents, pot)",
+      "move_to(mug, table)",
+      "place(mug, table)",
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, pot)",
+      "place(pot_lid, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot)": [
+        "grasp(pot)"
+      ],
+      "grasp(pot)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot, scale)"
+      ],
+      "move_to(pot, scale)": [
+        "place(pot, scale)"
+      ],
+      "place(pot, scale)": [
+        "move_to(none, mug)"
+      ],
+      "move_to(none, mug)": [
+        "grasp(mug_handle)"
+      ],
+      "grasp(mug_handle)": [
+        "pick_up(mug)"
+      ],
+      "pick_up(mug)": [
+        "move_to(mug, pot)"
+      ],
+      "move_to(mug, pot)": [
+        "pour(mug, contents, pot)"
+      ],
+      "pour(mug, contents, pot)": [
+        "move_to(mug, table)"
+      ],
+      "move_to(mug, table)": [
+        "place(mug, table)"
+      ],
+      "place(mug, table)": [
+        "move_to(none, pot_lid)"
+      ],
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid_handle)"
+      ],
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid, pot)"
+      ],
+      "move_to(pot_lid, pot)": [
+        "place(pot_lid, pot)"
+      ],
+      "place(pot_lid, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_27523.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_28951",
+    "actions_list": [
+      "move_to(none, coffee_maker)",
+      "grasp(coffee_maker_lid)",
+      "turn(coffee_maker_lid, up, state_open)",
+      "move_to(none, coffee_pod)",
+      "grasp(coffee_pod)",
+      "pick_up(coffee_pod)",
+      "move_to(coffee_pod, coffee_maker)",
+      "place(coffee_pod, coffee_maker)",
+      "move_to(none, coffee_maker)",
+      "grasp(coffee_maker_lid)",
+      "turn(coffee_maker_lid, down, state_close)"
+    ],
+    "gt_dag": {
+      "move_to(none, coffee_maker)": [
+        "grasp(coffee_maker_lid)"
+      ],
+      "grasp(coffee_maker_lid)": [
+        "turn(coffee_maker_lid, up, state_open)"
+      ],
+      "turn(coffee_maker_lid, up, state_open)": [
+        "move_to(none, coffee_pod)"
+      ],
+      "move_to(none, coffee_pod)": [
+        "grasp(coffee_pod)"
+      ],
+      "grasp(coffee_pod)": [
+        "pick_up(coffee_pod)"
+      ],
+      "pick_up(coffee_pod)": [
+        "move_to(coffee_pod, coffee_maker)"
+      ],
+      "move_to(coffee_pod, coffee_maker)": [
+        "place(coffee_pod, coffee_maker)"
+      ],
+      "place(coffee_pod, coffee_maker)": [
+        "move_to(none, coffee_maker)<2>"
+      ],
+      "move_to(none, coffee_maker)<1>": [],
+      "grasp(coffee_maker_lid)<1>": [],
+      "turn(coffee_maker_lid, down, state_close)": [],
+      "move_to(none, coffee_maker)<2>": [
+        "grasp(coffee_maker_lid)<2>"
+      ],
+      "grasp(coffee_maker_lid)<2>": [
+        "turn(coffee_maker_lid, down, state_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_28951.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_30664",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "place(cup, table)",
+      "move_to(none, spoon)",
+      "grasp(scoop_handle)",
+      "pick_up(spoon)",
+      "move_to(snoop, bowl)",
+      "scoop(spoon,coffee_bean,bowl)",
+      "move_to(snoop, pot)",
+      "pour(snoop,coffee_bean, pot)",
+      "scoop(ladle, bowl)",
+      "pour(ladle, pot)",
+      "move_to(spoon, table)",
+      "place(spoon, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": [
+        "move_to(none, spoon)"
+      ],
+      "move_to(none, spoon)": [
+        "grasp(scoop_handle)"
+      ],
+      "grasp(scoop_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(snoop, bowl)"
+      ],
+      "move_to(snoop, bowl)": [
+        "scoop(spoon,coffee_bean,bowl)"
+      ],
+      "scoop(spoon,coffee_bean,bowl)": [
+        "move_to(snoop, pot)"
+      ],
+      "move_to(snoop, pot)": [
+        "pour(snoop,coffee_bean, pot)"
+      ],
+      "pour(snoop,coffee_bean, pot)": [
+        "scoop(ladle, bowl)"
+      ],
+      "scoop(ladle, bowl)": [
+        "pour(ladle, pot)"
+      ],
+      "pour(ladle, pot)": [
+        "move_to(spoon, table)"
+      ],
+      "move_to(spoon, table)": [
+        "place(spoon, table)"
+      ],
+      "place(spoon, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_30664.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_35910",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, transparent_bowl)",
+      "pour(cup, contents, transparent_bowl)",
+      "move_to(cup, table)",
+      "place(cup, table)",
+      "move_to(none, bowl_lid)",
+      "grasp(bowl_lid_handle)",
+      "pick_up(bowl_lid)",
+      "move_to(bowl_lid, transparent_bowl)",
+      "place(bowl_lid, transparent_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, transparent_bowl)"
+      ],
+      "move_to(cup, transparent_bowl)": [
+        "pour(cup, contents, transparent_bowl)"
+      ],
+      "pour(cup, contents, transparent_bowl)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": [
+        "move_to(none, bowl_lid)"
+      ],
+      "move_to(none, bowl_lid)": [
+        "grasp(bowl_lid_handle)"
+      ],
+      "grasp(bowl_lid_handle)": [
+        "pick_up(bowl_lid)"
+      ],
+      "pick_up(bowl_lid)": [
+        "move_to(bowl_lid, transparent_bowl)"
+      ],
+      "move_to(bowl_lid, transparent_bowl)": [
+        "place(bowl_lid, transparent_bowl)"
+      ],
+      "place(bowl_lid, transparent_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_35910.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_43452",
+    "actions_list": [
+      "move_to(plush_toy)",
+      "grasp(plush_toy)",
+      "pick_up(plush_toy)",
+      "place(plush_toy, pot)",
+      "pick_up(plush_toy)",
+      "place(plush_toy, pot)",
+      "pick_up(towel)",
+      "wipe(towel, counter)"
+    ],
+    "gt_dag": {
+      "move_to(plush_toy)": [
+        "grasp(plush_toy)"
+      ],
+      "grasp(plush_toy)": [
+        "pick_up(plush_toy)"
+      ],
+      "pick_up(plush_toy)": [
+        "place(plush_toy, pot)"
+      ],
+      "place(plush_toy, pot)": [
+        "pick_up(plush_toy)<2>"
+      ],
+      "pick_up(plush_toy)<1>": [],
+      "place(plush_toy, pot)<1>": [],
+      "pick_up(towel)": [],
+      "wipe(towel, counter)": [],
+      "pick_up(plush_toy)<2>": [
+        "place(plush_toy, pot)\\npick_up(towel) wipe(towel, counter)"
+      ],
+      "place(plush_toy, pot)\\npick_up(towel) wipe(towel, counter)": [
+        "pick_up(towel)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_43452.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_51715",
+    "actions_list": [
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, table)",
+      "place(pot_lid, table)",
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl, pot)",
+      "pour(bowl, contents, pot)",
+      "place(bowl, table)",
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)",
+      "place(pot_lid, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid_handle)"
+      ],
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid, table)"
+      ],
+      "move_to(pot_lid, table)": [
+        "place(pot_lid, table)"
+      ],
+      "place(pot_lid, table)": [
+        "move_to(none, bowl)"
+      ],
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, pot)"
+      ],
+      "move_to(bowl, pot)": [
+        "pour(bowl, contents, pot)"
+      ],
+      "pour(bowl, contents, pot)": [
+        "place(bowl, table)"
+      ],
+      "place(bowl, table)": [
+        "move_to(none, pot_lid)<2>"
+      ],
+      "move_to(none, pot_lid)<1>": [],
+      "grasp(pot_lid_handle)<1>": [],
+      "pick_up(pot_lid)<1>": [],
+      "place(pot_lid, pot)": [],
+      "move_to(none, pot_lid)<2>": [
+        "grasp(pot_lid_handle)<2>"
+      ],
+      "grasp(pot_lid_handle)<2>": [
+        "pick_up(pot_lid)<2>"
+      ],
+      "pick_up(pot_lid)<2>": [
+        "place(pot_lid, pot)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_51715.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_52343",
+    "actions_list": [
+      "wipe(none, counter)",
+      "grasp(plush_toy)",
+      "pick_up(plush_toy)",
+      "place(plush_toy, counter)",
+      "grasp(plush_toy)",
+      "pick_up(plush_toy)",
+      "place(plush_toy, stove)"
+    ],
+    "gt_dag": {
+      "wipe(none, counter)": [
+        "grasp(plush_toy)"
+      ],
+      "grasp(plush_toy)": [
+        "pick_up(plush_toy)"
+      ],
+      "pick_up(plush_toy)": [
+        "place(plush_toy, counter)"
+      ],
+      "place(plush_toy, counter)": [
+        "grasp(plush_toy)<2>"
+      ],
+      "grasp(plush_toy)<1>": [],
+      "pick_up(plush_toy)<1>": [],
+      "place(plush_toy, stove)": [],
+      "grasp(plush_toy)<2>": [
+        "pick_up(plush_toy)<2>"
+      ],
+      "pick_up(plush_toy)<2>": [
+        "place(plush_toy, stove)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_52343.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_65194",
+    "actions_list": [
+      "move_to(none,oven)",
+      "grasp(oven_door_handle)",
+      "trun(oven_door_handle,down,state_open)",
+      "move_to(none, spatula)",
+      "grasp(spatula_handle)",
+      "pick_up(spatula)",
+      "move_to(spatula, palte)",
+      "scoop(spatula, bread, plate)",
+      "move_to(bread_and_spatula, oven)",
+      "place(bread, oven)",
+      "move_to(spatula, table)",
+      "place(spatula, table)",
+      "move_to(none,ove)",
+      "grasp(oven_door_handle)",
+      "trun(oven_door_handle,up,state_close)"
+    ],
+    "gt_dag": {
+      "move_to(none,oven)": [
+        "grasp(oven_door_handle)"
+      ],
+      "grasp(oven_door_handle)": [
+        "trun(oven_door_handle,down,state_open)"
+      ],
+      "trun(oven_door_handle,down,state_open)": [
+        "move_to(none, spatula)"
+      ],
+      "move_to(none, spatula)": [
+        "grasp(spatula_handle)"
+      ],
+      "grasp(spatula_handle)": [
+        "pick_up(spatula)"
+      ],
+      "pick_up(spatula)": [
+        "move_to(spatula, palte)"
+      ],
+      "move_to(spatula, palte)": [
+        "scoop(spatula, bread, plate)"
+      ],
+      "scoop(spatula, bread, plate)": [
+        "move_to(bread_and_spatula, oven)"
+      ],
+      "move_to(bread_and_spatula, oven)": [
+        "place(bread, oven)"
+      ],
+      "place(bread, oven)": [
+        "move_to(spatula, table)"
+      ],
+      "move_to(spatula, table)": [
+        "place(spatula, table)"
+      ],
+      "place(spatula, table)": [
+        "move_to(none,ove)"
+      ],
+      "move_to(none,ove)": [
+        " grasp(oven_door_handle"
+      ],
+      "grasp(oven_door_handle)<1>": [],
+      "trun(oven_door_handle,up,state_close)": [],
+      " grasp(oven_door_handle": [
+        "trun(oven_door_handle,up,state_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_65194.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_70855",
+    "actions_list": [
+      "move_to(none, marker_pen)",
+      "grasp(marker_pen)",
+      "pick_up(marker_pen)",
+      "move_to(marker_pen, towel)",
+      "place(marker_pen,towel)",
+      "move_to(none, towel)",
+      "grasp(towel_left_corner)",
+      "fold(towel_left_corner,towel_right_corner)",
+      "move_to(none, folded_towel)",
+      "grasp(folded_towel)",
+      "pick_up(folded_towel)",
+      "move_to(folded_towel, box)",
+      "place(folded_towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker_pen)": [
+        "grasp(marker_pen)"
+      ],
+      "grasp(marker_pen)": [
+        "pick_up(marker_pen)"
+      ],
+      "pick_up(marker_pen)": [
+        "move_to(marker_pen, towel)"
+      ],
+      "move_to(marker_pen, towel)": [
+        "place(marker_pen,towel)"
+      ],
+      "place(marker_pen,towel)": [
+        "move_to(none, towel)"
+      ],
+      "move_to(none, towel)": [
+        "grasp(towel_left_corner)"
+      ],
+      "grasp(towel_left_corner)": [
+        "fold(towel_left_corner,towel_right_corner)"
+      ],
+      "fold(towel_left_corner,towel_right_corner)": [
+        "move_to(none, folded_towel)"
+      ],
+      "move_to(none, folded_towel)": [
+        "grasp(folded_towel)"
+      ],
+      "grasp(folded_towel)": [
+        "pick_up(folded_towel)"
+      ],
+      "pick_up(folded_towel)": [
+        "move_to(folded_towel, box)"
+      ],
+      "move_to(folded_towel, box)": [
+        "place(folded_towel, box)"
+      ],
+      "place(folded_towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_70855.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_85805",
+    "actions_list": [
+      "move_to(none, red_shirt)",
+      "grasp(red_shirt)",
+      "pick_up(red_shirt)",
+      "move_to(red_shirt, right_drawer)",
+      "place(red_shirt, right_drawer)",
+      "move_to(none, left_drawer)",
+      "grasp(left_drawer_handle)",
+      "pull(left_drawer_handle,left_drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, red_shirt)": [
+        "grasp(red_shirt)"
+      ],
+      "grasp(red_shirt)": [
+        "pick_up(red_shirt)"
+      ],
+      "pick_up(red_shirt)": [
+        "move_to(red_shirt, right_drawer)"
+      ],
+      "move_to(red_shirt, right_drawer)": [
+        "place(red_shirt, right_drawer)"
+      ],
+      "place(red_shirt, right_drawer)": [
+        "move_to(none, left_drawer)"
+      ],
+      "move_to(none, left_drawer)": [
+        "grasp(left_drawer_handle)"
+      ],
+      "grasp(left_drawer_handle)": [
+        "pull(left_drawer_handle,left_drawer)"
+      ],
+      "pull(left_drawer_handle,left_drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_85805.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_87030",
+    "actions_list": [
+      "move_to(none,oven)",
+      "grasp(oven_door_handle)",
+      "turn(oven_door_handle,down,state_open)",
+      "move_to(none,shovel)",
+      "grasp(shovel_handle)",
+      "pick_up(shovel_and_bread)",
+      "move_to(shovel_and_bread,plate)",
+      "scoop(shovel,bread,plate)",
+      "move_to(shovel,oven)",
+      "pour(shovel,bread,oven)",
+      "move_to(shovel,table)",
+      "place(shovel,table)",
+      "move_to(none,oven)",
+      "grasp(oven_door_handle)",
+      "turn(oven_door_handle,up,state_close)"
+    ],
+    "gt_dag": {
+      "move_to(none,oven)": [
+        "grasp(oven_door_handle)"
+      ],
+      "grasp(oven_door_handle)": [
+        "turn(oven_door_handle,down,state_open)"
+      ],
+      "turn(oven_door_handle,down,state_open)": [
+        "move_to(none,shovel)"
+      ],
+      "move_to(none,shovel)": [
+        "grasp(shovel_handle)"
+      ],
+      "grasp(shovel_handle)": [
+        "pick_up(shovel_and_bread)"
+      ],
+      "pick_up(shovel_and_bread)": [
+        "move_to(shovel_and_bread,plate)"
+      ],
+      "move_to(shovel_and_bread,plate)": [
+        "scoop(shovel,bread,plate)"
+      ],
+      "scoop(shovel,bread,plate)": [
+        "move_to(shovel,oven)"
+      ],
+      "move_to(shovel,oven)": [
+        "pour(shovel,bread,oven)"
+      ],
+      "pour(shovel,bread,oven)": [
+        "move_to(shovel,table)"
+      ],
+      "move_to(shovel,table)": [
+        "place(shovel,table)"
+      ],
+      "place(shovel,table)": [
+        "move_to(none,oven)<2>"
+      ],
+      "move_to(none,oven)<1>": [],
+      "grasp(oven_door_handle)<1>": [],
+      "turn(oven_door_handle,up,state_close)": [],
+      "move_to(none,oven)<2>": [
+        "grasp(oven_door_handle)<2>"
+      ],
+      "grasp(oven_door_handle)<2>": [
+        "turn(oven_door_handle,up,state_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_87030.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_90118",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,drawer)",
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,front_side_of_drawer)",
+      "move_to(none, toy)",
+      "grasp( toy)",
+      "pick_up( toy)",
+      "move_to( toy, drawer)",
+      "place(toy, drawer)",
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,drawer)"
+      ],
+      "pull(drawer_handle,drawer)": [
+        "move_to(none, drawer)<3>"
+      ],
+      "move_to(none, drawer)<1>": [],
+      "grasp(drawer_handle)<1>": [],
+      "pull(drawer_handle,front_side_of_drawer)": [
+        "move_to(none, toy)"
+      ],
+      "move_to(none, toy)": [
+        "grasp( toy)"
+      ],
+      "grasp( toy)": [
+        "pick_up( toy)"
+      ],
+      "pick_up( toy)": [
+        "move_to( toy, drawer)"
+      ],
+      "move_to( toy, drawer)": [
+        "place(toy, drawer)"
+      ],
+      "place(toy, drawer)": [
+        "move_to(none, drawer)<4>"
+      ],
+      "move_to(none, drawer)<2>": [],
+      "grasp(drawer_handle)<2>": [],
+      "pull(drawer_handle,drawer)<1>": [],
+      "move_to(none, drawer)<3>": [
+        "grasp(drawer_handle)<3>"
+      ],
+      "grasp(drawer_handle)<3>": [
+        "pull(drawer_handle,front_side_of_drawer)"
+      ],
+      "move_to(none, drawer)<4>": [
+        "grasp(drawer_handle)<4>"
+      ],
+      "grasp(drawer_handle)<4>": [
+        "pull(drawer_handle,drawer)<2>"
+      ],
+      "pull(drawer_handle,drawer)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_90118.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-91_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer_handle,front_side_of_drawer)",
+      "move_to(none, blocks)",
+      "grasp( blocks)",
+      "pick_up( blocks)",
+      "move_to( blocks, tablecloth)",
+      "place(blocks, tablecloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer_handle,front_side_of_drawer)"
+      ],
+      "pull(drawer_handle,front_side_of_drawer)": [
+        "move_to(none, blocks)"
+      ],
+      "move_to(none, blocks)": [
+        "grasp( blocks)"
+      ],
+      "grasp( blocks)": [
+        "pick_up( blocks)"
+      ],
+      "pick_up( blocks)": [
+        "move_to( blocks, tablecloth)"
+      ],
+      "move_to( blocks, tablecloth)": [
+        "place(blocks, tablecloth)"
+      ],
+      "place(blocks, tablecloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-91_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_pick_staples_into_stapler_episode_18",
+    "actions_list": [
+      "move_to(noen,staple)",
+      "grasp(staple)",
+      "pick_up(staple)",
+      "move_to(staple,stapler)",
+      "place(staple,stapler)"
+    ],
+    "gt_dag": {
+      "move_to(noen,staple)": [
+        "grasp(staple)"
+      ],
+      "grasp(staple)": [
+        "pick_up(staple)"
+      ],
+      "pick_up(staple)": [
+        "move_to(staple,stapler)"
+      ],
+      "move_to(staple,stapler)": [
+        "place(staple,stapler)"
+      ],
+      "place(staple,stapler)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_RDT-FT_imgs_1_pick_staples_into_stapler_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_5",
+    "actions_list": [
+      "move_to(no,laptop)",
+      "grasp(laptop_lid)",
+      "turn(laptop_lid,up,state_open)",
+      "move_to(none,keyboard)",
+      "press(keyboard)"
+    ],
+    "gt_dag": {
+      "move_to(no,laptop)": [
+        "grasp(laptop_lid)"
+      ],
+      "grasp(laptop_lid)": [
+        "turn(laptop_lid,up,state_open)"
+      ],
+      "turn(laptop_lid,up,state_open)": [
+        "move_to(none,keyboard)"
+      ],
+      "move_to(none,keyboard)": [
+        "press(keyboard)"
+      ],
+      "press(keyboard)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10906",
+    "actions_list": [
+      "move_to(none,potato)",
+      "grasp(potato)",
+      "pick_up(potato)",
+      "grasp(potato,pan)",
+      "place(potato,pan)",
+      "move_to(none,pan)",
+      "grasp(pan_edge)",
+      "pick_up(pan)",
+      "place(pan, left_stove)"
+    ],
+    "gt_dag": {
+      "move_to(none,potato)": [
+        "grasp(potato)"
+      ],
+      "grasp(potato)": [
+        "pick_up(potato)"
+      ],
+      "pick_up(potato)": [
+        "grasp(potato,pan)"
+      ],
+      "grasp(potato,pan)": [
+        "place(potato,pan)"
+      ],
+      "place(potato,pan)": [
+        "move_to(none,pan)"
+      ],
+      "move_to(none,pan)": [
+        "grasp(pan_edge)"
+      ],
+      "grasp(pan_edge)": [
+        "pick_up(pan)"
+      ],
+      "pick_up(pan)": [
+        "place(pan, left_stove)"
+      ],
+      "place(pan, left_stove)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rt_frames_success_rtx_frames_success_3_49_bridge#episode_10906.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1271",
+    "actions_list": [
+      "move_to(none,pot)",
+      "grasp(pot_edge)",
+      "pick_up(pot)",
+      "move_to(pot, left_stove)",
+      "place(pot, left_stove)",
+      "move_to(none, cauliflower)",
+      "grasp(cauliflower)",
+      "pick_up(cauliflower)",
+      "move_to(cauliflower, pot)",
+      "place(cauliflower, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none,pot)": [
+        "grasp(pot_edge)"
+      ],
+      "grasp(pot_edge)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot, left_stove)"
+      ],
+      "move_to(pot, left_stove)": [
+        "place(pot, left_stove)"
+      ],
+      "place(pot, left_stove)": [
+        "move_to(none, cauliflower)"
+      ],
+      "move_to(none, cauliflower)": [
+        "grasp(cauliflower)"
+      ],
+      "grasp(cauliflower)": [
+        "pick_up(cauliflower)"
+      ],
+      "pick_up(cauliflower)": [
+        "move_to(cauliflower, pot)"
+      ],
+      "move_to(cauliflower, pot)": [
+        "place(cauliflower, pot)"
+      ],
+      "place(cauliflower, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_1271.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12428",
+    "actions_list": [
+      "move_to(none,red_cube)",
+      "grasp(red_cube)",
+      "pick_up(red_cube)",
+      "move_to(red_cube, pot)",
+      "place(red_cube,pot)",
+      "move_to(pot)",
+      "grasp(pot_edge)",
+      "pick_up(pot)",
+      "place(pot,left_ stove)",
+      "place(pot,left_ stove)"
+    ],
+    "gt_dag": {
+      "move_to(none,red_cube)": [
+        "grasp(red_cube)"
+      ],
+      "grasp(red_cube)": [
+        "pick_up(red_cube)"
+      ],
+      "pick_up(red_cube)": [],
+      "move_to(red_cube, pot)": [
+        "place(red_cube,pot)"
+      ],
+      "place(red_cube,pot)": [
+        "move_to(pot)"
+      ],
+      "move_to(pot)": [
+        "grasp(pot_edge)"
+      ],
+      "grasp(pot_edge)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "place(pot,left_ stove)"
+      ],
+      "place(pot,left_ stove)": [
+        "place(pot,left_ stove)<2>"
+      ],
+      "place(pot,left_ stove)<1>": [],
+      "ot,left_ stove)": [],
+      "place(pot,left_ stove)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_12428.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_13735",
+    "actions_list": [
+      "move_to(none,stuffed_animal)",
+      "grasp(stuffed_animal)",
+      "pick_up(stuffed_animal)",
+      "move_to(stuffed_animal, plate)",
+      "place(stuffed_animal, plate)",
+      "move_to(none,sweet_potato)",
+      "grasp(sweet_potato)",
+      "pick_up(sweet_potato)",
+      "place(sweet_potato, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none,stuffed_animal)": [
+        "grasp(stuffed_animal)"
+      ],
+      "grasp(stuffed_animal)": [
+        "pick_up(stuffed_animal)"
+      ],
+      "pick_up(stuffed_animal)": [
+        "move_to(stuffed_animal, plate)"
+      ],
+      "move_to(stuffed_animal, plate)": [
+        "place(stuffed_animal, plate)"
+      ],
+      "place(stuffed_animal, plate)": [],
+      "move_to(none,sweet_potato)": [
+        "grasp(sweet_potato)"
+      ],
+      "grasp(sweet_potato)": [
+        "pick_up(sweet_potato)"
+      ],
+      "pick_up(sweet_potato)": [
+        "place(sweet_potato, pot)"
+      ],
+      "place(sweet_potato, pot)": []
+    }
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_197",
+    "actions_list": [
+      "move_to(none,purple_cup)",
+      "grasp(purple_cup_edge)",
+      "pick_up(purple_cup)",
+      "move_to(purple_cup, purple_bowl)",
+      "place(purple_cup, purple_bowl)",
+      "move_to(none,red_cup)",
+      "grasp(red_cup_edge)",
+      "pick_up(red_cup)",
+      "move_to(red_cup,red_bowl)",
+      "place(red_cup, rede_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none,purple_cup)": [
+        "grasp(purple_cup_edge)"
+      ],
+      "grasp(purple_cup_edge)": [
+        "pick_up(purple_cup)"
+      ],
+      "pick_up(purple_cup)": [
+        "move_to(purple_cup, purple_bowl)"
+      ],
+      "move_to(purple_cup, purple_bowl)": [
+        "place(purple_cup, purple_bowl)"
+      ],
+      "place(purple_cup, purple_bowl)": [],
+      "move_to(none,red_cup)": [
+        "grasp(red_cup_edge)"
+      ],
+      "grasp(red_cup_edge)": [
+        "pick_up(red_cup)"
+      ],
+      "pick_up(red_cup)": [
+        "move_to(red_cup,red_bowl)"
+      ],
+      "move_to(red_cup,red_bowl)": [
+        "place(red_cup, rede_bowl)"
+      ],
+      "place(red_cup, rede_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_197.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_163",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pullout(drawer_handle, none)",
+      "pull(drawer_handle,front_side_of_drawer)",
+      "move_to(none, sponge)",
+      "grasp(sponge)",
+      "pick_up(sponge)",
+      "move_to(sponge, drawer)",
+      "place(sponge, drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pullout(drawer_handle, none)"
+      ],
+      "pullout(drawer_handle, none)": [
+        "pull(drawer_handle,front_side_of_drawer)"
+      ],
+      "pull(drawer_handle,front_side_of_drawer)": [
+        "move_to(none, sponge)"
+      ],
+      "move_to(none, sponge)": [
+        "grasp(sponge)"
+      ],
+      "grasp(sponge)": [
+        "pick_up(sponge)"
+      ],
+      "pick_up(sponge)": [
+        "move_to(sponge, drawer)"
+      ],
+      "move_to(sponge, drawer)": [
+        "place(sponge, drawer)"
+      ],
+      "place(sponge, drawer)": []
+    }
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_10661",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "pick_up(bottle)",
+      "move_to(none, marker)",
+      "pick_up(marker)",
+      "place(items, drawer)",
+      "close(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(none, marker)"
+      ],
+      "move_to(none, marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "place(items, drawer)"
+      ],
+      "place(items, drawer)": [
+        "close(drawer)"
+      ],
+      "close(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_10661.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11190",
+    "actions_list": [
+      "move_to(none,screwdriver)",
+      "grasp(screwdriver)",
+      "pick_up(screwdriver)",
+      "place(screwdriver, in_drawer)",
+      "grasp(drawer)",
+      "push(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none,screwdriver)": [
+        "grasp(screwdriver)"
+      ],
+      "grasp(screwdriver)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "place(screwdriver, in_drawer)"
+      ],
+      "place(screwdriver, in_drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_11190.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11299",
+    "actions_list": [
+      "move_to(none, blue_cup)",
+      "grasp(blue_cup)",
+      "pick_up(blue_cup,)",
+      "place(cup, counter)",
+      "grasp(drawer)",
+      "push(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, blue_cup)": [
+        "grasp(blue_cup)"
+      ],
+      "grasp(blue_cup)": [
+        "pick_up(blue_cup,)"
+      ],
+      "pick_up(blue_cup,)": [
+        "place(cup, counter)"
+      ],
+      "place(cup, counter)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": [],
+      "c": []
+    }
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_13407",
+    "actions_list": [
+      "move_to(none,screwdriver)",
+      "grasp(screwdriver)",
+      "pick_up(screwdriver)",
+      "place(screwdriver, in_drawer)",
+      "grasp(drawer)",
+      "push(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none,screwdriver)": [
+        "grasp(screwdriver)"
+      ],
+      "grasp(screwdriver)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "place(screwdriver, in_drawer)"
+      ],
+      "place(screwdriver, in_drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_13407.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_16242",
+    "actions_list": [
+      "move_to(lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "place(lid,counter)",
+      "move_to(none,box)",
+      "grasp(box)",
+      "pick_up(box)",
+      "place(box,counter)",
+      "move_to(none,ball)",
+      "grasp(ball)",
+      "pick_up(ball)",
+      "place(ball,in_box)"
+    ],
+    "gt_dag": {
+      "move_to(lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "place(lid,counter)"
+      ],
+      "place(lid,counter)": [],
+      "move_to(none,box)": [
+        "grasp(box)"
+      ],
+      "grasp(box)": [
+        "pick_up(box)"
+      ],
+      "pick_up(box)": [
+        "place(box,counter)"
+      ],
+      "place(box,counter)": [],
+      "move_to(none,ball)": [
+        "grasp(ball)"
+      ],
+      "grasp(ball)": [
+        "pick_up(ball)"
+      ],
+      "pick_up(ball)": [
+        "place(ball,in_box)"
+      ],
+      "place(ball,in_box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_16242.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_18685",
+    "actions_list": [
+      "move_to(none,block)",
+      "grasp(block)",
+      "pick_up(block)",
+      "place(block, pot)",
+      "move_to(none,block)",
+      "grasp(block)",
+      "pick_up(block)",
+      "place(block, pot)",
+      "move_to(none,block)",
+      "grasp(block)",
+      "pick_up(block)",
+      "place(block, pot)",
+      "move_to(none,pot_handle)",
+      "grasp(pot_handle)",
+      "pick_up(pot_handle)",
+      "place(pot, stove)",
+      "move_to(lid_handle)",
+      "grasp(lid_handle)",
+      "pick_up(lid_handle)",
+      "place(lid, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none,block)": [
+        "grasp(block)"
+      ],
+      "grasp(block)": [
+        "pick_up(block)"
+      ],
+      "pick_up(block)": [
+        "place(block, pot)"
+      ],
+      "place(block, pot)": [],
+      "move_to(none,block)<1>": [],
+      "grasp(block)<1>": [],
+      "pick_up(block)<1>": [],
+      "place(block, pot)<1>": [],
+      "move_to(none,block)<2>": [],
+      "grasp(block)<2>": [],
+      "pick_up(block)<2>": [],
+      "place(block, pot)<2>": [],
+      "move_to(none,pot_handle)": [
+        "grasp(pot_handle)"
+      ],
+      "grasp(pot_handle)": [
+        "pick_up(pot_handle)"
+      ],
+      "pick_up(pot_handle)": [
+        "place(pot, stove)"
+      ],
+      "place(pot, stove)": [],
+      "move_to(lid_handle)": [
+        "grasp(lid_handle)"
+      ],
+      "grasp(lid_handle)": [
+        "pick_up(lid_handle)"
+      ],
+      "pick_up(lid_handle)": [
+        "place(lid, pot)"
+      ],
+      "place(lid, pot)": [],
+      "move_to(none,block)<3>": [
+        "grasp(block)<3>"
+      ],
+      "grasp(block)<3>": [
+        "pick_up(block)<3>"
+      ],
+      "pick_up(block)<3>": [
+        "place(block, pot)<3>"
+      ],
+      "place(block, pot)<3>": [],
+      "move_to(none,block)<4>": [
+        "grasp(block)<4>"
+      ],
+      "grasp(block)<4>": [
+        "pick_up(block)<4>"
+      ],
+      "pick_up(block)<4>": [
+        "place(block, pot)<4>"
+      ],
+      "place(block, pot)<4>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_18685.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21739",
+    "actions_list": [
+      "move_to(none,marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "place(marker,inside_towel)",
+      "grasp(towel)"
+    ],
+    "gt_dag": {
+      "move_to(none,marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "place(marker,inside_towel)"
+      ],
+      "place(marker,inside_towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_21739.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21874",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "place(bottle,inside_bag)",
+      "grasp(bag)",
+      "pick_up(bag)",
+      "palce(bag,chair)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "place(bottle,inside_bag)"
+      ],
+      "place(bottle,inside_bag)": [],
+      "grasp(bag)": [
+        "pick_up(bag)"
+      ],
+      "pick_up(bag)": [
+        "palce(bag,chair)"
+      ],
+      "palce(bag,chair)": []
+    }
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22051",
+    "actions_list": [
+      "move_to(none, can)",
+      "grasp(can)",
+      "pick_up(can)",
+      "place(can, inside_bin)",
+      "grasp(bin_lid)",
+      "press(bin_lid)"
+    ],
+    "gt_dag": {
+      "move_to(none, can)": [
+        "grasp(can)"
+      ],
+      "grasp(can)": [
+        "pick_up(can)"
+      ],
+      "pick_up(can)": [
+        "place(can, inside_bin)"
+      ],
+      "place(can, inside_bin)": [
+        "grasp(bin_lid)"
+      ],
+      "grasp(bin_lid)": [
+        "press(bin_lid)"
+      ],
+      "press(bin_lid)": [],
+      "i": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_22051.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22447",
+    "actions_list": [
+      "move_to(none,white_bottle)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "place(white_bottle,plate)",
+      "move_to(none,white_bottle)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "place(white_bottle,plate)",
+      "move_to(none,brown_bottle)",
+      "grasp(brown_bottle)",
+      "pick_up(brown_bottle)",
+      "place(brown_bottle,plate)",
+      "move_to(none,yellow_bottle)",
+      "grasp(yellow_bottle)",
+      "pick_up(yellow_bottle)",
+      "place(yellow_bottle,plate)",
+      "move_to(none,green_bottle)",
+      "grasp(green_bottle)",
+      "pick_up(green_bottle)",
+      "place(green_bottle,plate)",
+      "move_to(none,orange)",
+      "grasp(orange)",
+      "pick_up(orange)",
+      "place(orange,plate)",
+      "move_to(none,box)",
+      "grasp(box)",
+      "pick_up(box)",
+      "place(box,sponge_pad)",
+      "move_to(none,box)",
+      "grasp(box)",
+      "pick_up(box)",
+      "place(box,on_box)",
+      "move_to(none,box)",
+      "grasp(box)",
+      "pick_up(box)",
+      "place(box,on_box)"
+    ],
+    "gt_dag": {
+      "move_to(none,white_bottle)": [
+        "grasp(white_bottle)"
+      ],
+      "grasp(white_bottle)": [
+        "pick_up(white_bottle)"
+      ],
+      "pick_up(white_bottle)": [
+        "place(white_bottle,plate)"
+      ],
+      "place(white_bottle,plate)": [],
+      "move_to(none,white_bottle)<1>": [],
+      "grasp(white_bottle)<1>": [],
+      "pick_up(white_bottle)<1>": [],
+      "place(white_bottle,plate)<1>": [],
+      "move_to(none,brown_bottle)": [
+        "grasp(brown_bottle)"
+      ],
+      "grasp(brown_bottle)": [
+        "pick_up(brown_bottle)"
+      ],
+      "pick_up(brown_bottle)": [
+        "place(brown_bottle,plate)"
+      ],
+      "place(brown_bottle,plate)": [],
+      "move_to(none,yellow_bottle)": [
+        "grasp(yellow_bottle)"
+      ],
+      "grasp(yellow_bottle)": [
+        "pick_up(yellow_bottle)"
+      ],
+      "pick_up(yellow_bottle)": [
+        "place(yellow_bottle,plate)"
+      ],
+      "place(yellow_bottle,plate)": [],
+      "move_to(none,green_bottle)": [
+        "grasp(green_bottle)"
+      ],
+      "grasp(green_bottle)": [
+        "pick_up(green_bottle)"
+      ],
+      "pick_up(green_bottle)": [
+        "place(green_bottle,plate)"
+      ],
+      "place(green_bottle,plate)": [],
+      "move_to(none,orange)": [
+        "grasp(orange)"
+      ],
+      "grasp(orange)": [
+        "pick_up(orange)"
+      ],
+      "pick_up(orange)": [
+        "place(orange,plate)"
+      ],
+      "place(orange,plate)": [],
+      "move_to(none,box)": [
+        "grasp(box)"
+      ],
+      "grasp(box)": [
+        "pick_up(box)"
+      ],
+      "pick_up(box)": [
+        "place(box,sponge_pad)"
+      ],
+      "place(box,sponge_pad)": [],
+      "move_to(none,box)<1>": [],
+      "grasp(box)<1>": [],
+      "pick_up(box)<1>": [],
+      "place(box,on_box)": [],
+      "move_to(none,box)<2>": [],
+      "grasp(box)<2>": [],
+      "pick_up(box)<2>": [],
+      "place(box,on_box)<1>": [],
+      "move_to(none,white_bottle)<2>": [
+        "grasp(white_bottle)<2>"
+      ],
+      "grasp(white_bottle)<2>": [
+        "pick_up(white_bottle)<2>"
+      ],
+      "pick_up(white_bottle)<2>": [
+        "place(white_bottle,plate)<2>"
+      ],
+      "place(white_bottle,plate)<2>": [],
+      "move_to(none,box) grasp(box)": [
+        "pick_up(box)<3>"
+      ],
+      "pick_up(box)<3>": [
+        "place(box,on_box)"
+      ],
+      "move_to(none,box)<3>": [
+        "grasp(box)<3>"
+      ],
+      "grasp(box)<3>": [
+        "pick_up(box)<4>"
+      ],
+      "pick_up(box)<4>": [
+        "place(box,on_box)<2>"
+      ],
+      "place(box,on_box)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_22447.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22467",
+    "actions_list": [
+      "move_to(none, charging_adapter)",
+      "grasp(charging_adapter)",
+      "pick_up(charging_adapter)",
+      "insert(charging_adapter, extension_cable)"
+    ],
+    "gt_dag": {
+      "move_to(none, charging_adapter)": [
+        "grasp(charging_adapter)"
+      ],
+      "grasp(charging_adapter)": [
+        "pick_up(charging_adapter)"
+      ],
+      "pick_up(charging_adapter)": [
+        "insert(charging_adapter, extension_cable)"
+      ],
+      "insert(charging_adapter, extension_cable)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_22467.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_23838",
+    "actions_list": [
+      "move_to(none, purple_bowl)",
+      "grasp(purple_bowl)",
+      "pick_up(purple_bowl)",
+      "move_to(purple_bowl, sink)",
+      "place(purple_bowl, sink)",
+      "move_to(none, faucet)",
+      "turn(faucet,clockwise,right_of_the_faucet)",
+      "move_to(none, faucet_switch)",
+      "grasp(faucet_switch)",
+      "push(faucet_switch, clockwise, right_of_faucet_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, purple_bowl)": [
+        "grasp(purple_bowl)"
+      ],
+      "grasp(purple_bowl)": [
+        "pick_up(purple_bowl)"
+      ],
+      "pick_up(purple_bowl)": [
+        "move_to(purple_bowl, sink)"
+      ],
+      "move_to(purple_bowl, sink)": [
+        "place(purple_bowl, sink)"
+      ],
+      "place(purple_bowl, sink)": [
+        "move_to(none, faucet)"
+      ],
+      "move_to(none, faucet)": [
+        "turn(faucet,clockwise,right_of_the_faucet)"
+      ],
+      "turn(faucet,clockwise,right_of_the_faucet)": [
+        "move_to(none, faucet_switch)"
+      ],
+      "move_to(none, faucet_switch)": [
+        "grasp(faucet_switch)"
+      ],
+      "grasp(faucet_switch)": [
+        "push(faucet_switch, clockwise, right_of_faucet_switch)"
+      ],
+      "push(faucet_switch, clockwise, right_of_faucet_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_23838.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24564",
+    "actions_list": [
+      "move_to(none, screwdriver)",
+      "grasp(screwdriver)",
+      "pick_up(screwdriver)",
+      "move_to(screwdriver, inside_of_drawer)",
+      "place(screwdriver, drawer)",
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "push(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, screwdriver)": [
+        "grasp(screwdriver)"
+      ],
+      "grasp(screwdriver)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "move_to(screwdriver, inside_of_drawer)"
+      ],
+      "move_to(screwdriver, inside_of_drawer)": [
+        "place(screwdriver, drawer)"
+      ],
+      "place(screwdriver, drawer)": [
+        "move_to(none, drawer_handle)"
+      ],
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": [],
+      "r": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_24564.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24986",
+    "actions_list": [
+      "move_to(none, building block)",
+      "grasp(building_block)",
+      "pick_up(buliding_block)",
+      "move_to(buliding_block, inside_of_drawer)",
+      "place(buliding_block, drawer)",
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "push(drawer_hendle,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, building block)": [
+        "grasp(building_block)"
+      ],
+      "grasp(building_block)": [
+        "pick_up(buliding_block)"
+      ],
+      "pick_up(buliding_block)": [
+        "move_to(buliding_block, inside_of_drawer)"
+      ],
+      "move_to(buliding_block, inside_of_drawer)": [
+        "place(buliding_block, drawer)"
+      ],
+      "place(buliding_block, drawer)": [
+        "move_to(none, drawer_handle)"
+      ],
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer_hendle,close)"
+      ],
+      "push(drawer_hendle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_24986.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_26680",
+    "actions_list": [
+      "move_to(none, jar)",
+      "grasp(jar_lid)",
+      "turn(jar_lid, counterclockwise,none)",
+      "grasp(jar_lid)",
+      "pick_up(jar_lid)",
+      "move_to(jar_lid, desktop)",
+      "grasp(jar_lid, desktop)",
+      "place(jar_lid, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, jar)": [
+        "grasp(jar_lid)"
+      ],
+      "grasp(jar_lid)": [
+        "turn(jar_lid, counterclockwise,none)"
+      ],
+      "turn(jar_lid, counterclockwise,none)": [
+        "grasp(jar_lid)<2>"
+      ],
+      "grasp(jar_lid)<1>": [],
+      "pick_up(jar_lid)": [
+        "move_to(jar_lid, desktop)"
+      ],
+      "move_to(jar_lid, desktop)": [
+        "grasp(jar_lid, desktop)"
+      ],
+      "grasp(jar_lid, desktop)": [
+        "place(jar_lid, desktop)"
+      ],
+      "place(jar_lid, desktop)": [],
+      "grasp(jar_lid)<2>": [
+        "pick_up(jar_lid)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_26680.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_28317",
+    "actions_list": [
+      "move_to(none, cereal_box)",
+      "grasp(cereal_box)",
+      "pick_up(cereal_box)",
+      "scoop(spoon, cereal,cereal_box)",
+      "move_to(cereal_box, mug)",
+      "pour(cereal_box, cereal, mug)",
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "stir(spoon, cereal, mug)"
+    ],
+    "gt_dag": {
+      "move_to(none, cereal_box)": [
+        "grasp(cereal_box)"
+      ],
+      "grasp(cereal_box)": [
+        "pick_up(cereal_box)"
+      ],
+      "pick_up(cereal_box)": [
+        "scoop(spoon, cereal,cereal_box)"
+      ],
+      "scoop(spoon, cereal,cereal_box)": [
+        "move_to(cereal_box, mug)"
+      ],
+      "move_to(cereal_box, mug)": [
+        "pour(cereal_box, cereal, mug)"
+      ],
+      "pour(cereal_box, cereal, mug)": [
+        "move_to(none, spoon)"
+      ],
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "stir(spoon, cereal, mug)"
+      ],
+      "stir(spoon, cereal, mug)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_28317.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_30388",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, cup)",
+      "place(marker, cup)",
+      "move_to(none, cup )",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, countertop)",
+      "place(cup, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, cup)"
+      ],
+      "move_to(marker, cup)": [
+        "place(marker, cup)"
+      ],
+      "place(marker, cup)": [],
+      "move_to(none, cup )": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, countertop)"
+      ],
+      "move_to(cup, countertop)": [
+        "place(cup, countertop)"
+      ],
+      "place(cup, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_30388.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_40282",
+    "actions_list": [
+      "move_to(none,faucet_switch)",
+      "turn(faucet, up, none)",
+      "move_to(none, razor)",
+      "grasp(razor)",
+      "pick_up( razor)",
+      "move_to(razor,under_side_of_gaucet)",
+      "hold(razor)",
+      "move_to(razor, counter)",
+      "place(razor, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none,faucet_switch)": [
+        "turn(faucet, up, none)"
+      ],
+      "turn(faucet, up, none)": [
+        "move_to(none, razor)"
+      ],
+      "move_to(none, razor)": [
+        "grasp(razor)"
+      ],
+      "grasp(razor)": [
+        "pick_up( razor)"
+      ],
+      "pick_up( razor)": [
+        "move_to(razor,under_side_of_gaucet)"
+      ],
+      "move_to(razor,under_side_of_gaucet)": [
+        "hold(razor)"
+      ],
+      "hold(razor)": [
+        "move_to(razor, counter)"
+      ],
+      "move_to(razor, counter)": [
+        "place(razor, counter)"
+      ],
+      "place(razor, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_40282.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_42156",
+    "actions_list": [
+      "move_to(none, smaller_bowl)",
+      "grasp(smaller_bowl)",
+      "pick_up(smaller_bowl)",
+      "move_to(smaller, larger_bowl)",
+      "place(smaller, larger_bowl)",
+      "move_to(none, left_fork)",
+      "grasp(left_fork)",
+      "pick_up(left_fork)",
+      "move_to(left_fork, larger_bowl)",
+      "place(left_fork, larger_bowl)",
+      "move_to(none, right_bowl)",
+      "grasp(right_bowl)",
+      "pick_up(right_bowl)",
+      "move_to(right_bowl, larger_bowl)",
+      "place(right_bowl, larger_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, smaller_bowl)": [
+        "grasp(smaller_bowl)"
+      ],
+      "grasp(smaller_bowl)": [
+        "pick_up(smaller_bowl)"
+      ],
+      "pick_up(smaller_bowl)": [
+        "move_to(smaller, larger_bowl)"
+      ],
+      "move_to(smaller, larger_bowl)": [
+        "place(smaller, larger_bowl)"
+      ],
+      "place(smaller, larger_bowl)": [],
+      "move_to(none, left_fork)": [
+        "grasp(left_fork)"
+      ],
+      "grasp(left_fork)": [
+        "pick_up(left_fork)"
+      ],
+      "pick_up(left_fork)": [
+        "move_to(left_fork, larger_bowl)"
+      ],
+      "move_to(left_fork, larger_bowl)": [
+        "place(left_fork, larger_bowl)"
+      ],
+      "place(left_fork, larger_bowl)": [],
+      "move_to(none, right_bowl)": [
+        "grasp(right_bowl)"
+      ],
+      "grasp(right_bowl)": [
+        "pick_up(right_bowl)"
+      ],
+      "pick_up(right_bowl)": [
+        "move_to(right_bowl, larger_bowl)"
+      ],
+      "move_to(right_bowl, larger_bowl)": [
+        "place(right_bowl, larger_bowl)"
+      ],
+      "place(right_bowl, larger_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_42156.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_46095",
+    "actions_list": [
+      "move_to(none, green_block)",
+      "grasp(green_block)",
+      "pick_up(green_block)",
+      "move_to(green_block, gray_cup)",
+      "place(green_block, gray_cup)",
+      "move_to(none, orange_cup)",
+      "grasp(orange_cup)",
+      "pick_up(orange_cup)",
+      "move_to(orange_cup, right_of_desktop)",
+      "move_to(none, red_and_yellow_blocks)",
+      "grasp(red_and_yellow_blocks)",
+      "pick_up(red_and_yellow_blocks)",
+      "move_to(red_and_yellow_blocks, gray_cup)",
+      "place(red_and_yellow_blocks, gray_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, green_block)": [
+        "grasp(green_block)"
+      ],
+      "grasp(green_block)": [
+        "pick_up(green_block)"
+      ],
+      "pick_up(green_block)": [
+        "move_to(green_block, gray_cup)"
+      ],
+      "move_to(green_block, gray_cup)": [
+        "place(green_block, gray_cup)"
+      ],
+      "place(green_block, gray_cup)": [],
+      "move_to(none, orange_cup)": [
+        "grasp(orange_cup)"
+      ],
+      "grasp(orange_cup)": [
+        "pick_up(orange_cup)"
+      ],
+      "pick_up(orange_cup)": [
+        "move_to(orange_cup, right_of_desktop)"
+      ],
+      "move_to(orange_cup, right_of_desktop)": [
+        "move_to(none, red_and_yellow_blocks)"
+      ],
+      "move_to(none, red_and_yellow_blocks)": [
+        "grasp(red_and_yellow_blocks)"
+      ],
+      "grasp(red_and_yellow_blocks)": [
+        "pick_up(red_and_yellow_blocks)"
+      ],
+      "pick_up(red_and_yellow_blocks)": [
+        "move_to(red_and_yellow_blocks, gray_cup)"
+      ],
+      "move_to(red_and_yellow_blocks, gray_cup)": [
+        "place(red_and_yellow_blocks, gray_cup)"
+      ],
+      "place(red_and_yellow_blocks, gray_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_multi_object_images_rtx_frames__new_85_85_droid#episode_46095.png"
+  }
+]
\ No newline at end of file
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+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-84_task-108_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plug a bulb holder with a bulb into a socket and turn on the switch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bulb_holder),2-pick_up(bulb_holder),3-insert(bulb_holder, socket),4-press(none, switch_of_the_socket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-84_task-108_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plug a bulb holder with a bulb into a socket and turn on the switch> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-pick_up(bulb_holder)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-84_task-108_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plug a bulb holder with a bulb into a socket and turn on the switch> as the goal, steps so far are shown in the video, is step 1-move_to(none, bulb_holder) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11603_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place fry on a plate and a mushroom in a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,fry),2-grasp(fry),3-pick_up(fry),4-move_to(fry,plate),5-place(fry, plate),6-move_to(none,mushroom),7-grasp(mushroom_stalk),8-pick_up(mushroom),9-move_to(mushroom,pot),10-place(mushroom, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11603_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place fry on a plate and a mushroom in a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(fry, plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11603_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place fry on a plate and a mushroom in a pot> as the goal, steps so far are shown in the video, is step 2-grasp(fry) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14689_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a mushroom in a pot and put the pot on the left stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mushroom)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14689_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a mushroom in a pot and put the pot on the left stove> as the goal, steps so far are shown in the video, is step 5-place(mushroom, pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19028_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a french fry on a plate and a pear in a pot on the stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,french_fry),2-grasp(french_fry),3-pick_up(french_fry),4-move_to(french_fry,plate),5-place(french_fry, plate),6-move_to(none,pear),7-grasp(pear),8-pick_up(pear),9-move_to(pear, pot),10-place(pear, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19028_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a french fry on a plate and a pear in a pot on the stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(french_fry)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19028_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a french fry on a plate and a pear in a pot on the stove> as the goal, steps so far are shown in the video, is step 2-grasp(french_fry) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_3970_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a stuffed animal on a plate and an egg in a pot on the stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,stuffed_animal),2-grasp(stuffed_animal),3-pick_up(stuffed_animal),4-move_to(stuffed_animal,plate),5-place(stuffed_animal, plate),6-move_to(none, egg),7-grasp(egg),8-pick_up(egg),9-move_to(egg, pot),10-place(egg, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_3970_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a stuffed animal on a plate and an egg in a pot on the stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(stuffed_animal, plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_3970_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a stuffed animal on a plate and an egg in a pot on the stove> as the goal, steps so far are shown in the video, is step 5-place(stuffed_animal, plate) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9632_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a pan on the left stove and adding blueberries to it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,pan),2-grasp(pan_edge),3-pick_up(pan),4-move_to(pan,left_stove),5-place(pan, left_stove),6-move_to(none, blueberries),7-grasp(blueberries),8-pick_up(blueberries),9-move_to(blueberries,pan),10-place(blueberries, pan)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9632_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a pan on the left stove and adding blueberries to it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, blueberries)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9632_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a pan on the left stove and adding blueberries to it> as the goal, steps so far are shown in the video, is step 2-grasp(pan_edge) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35913_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot on left stove and adding a blueberry to it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,pot),2-grasp(pot_edge),3-pick_up(pan),4-move_to(pan,left_stove),5-place(pot,left_ stove),6-move_to(none, blueberries),7-grasp(blueberry),8-pick_up(blueberry),9-move_to(blueberry,pot),10-place(blueberry,pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35913_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot on left stove and adding a blueberry to it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, blueberries)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35913_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot on left stove and adding a blueberry to it> as the goal, steps so far are shown in the video, is step 3-pick_up(pan) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_33_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the tea bag into two cups of different colors> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, first_tea_bag),2-grasp(first_tea_bag),3-pick_up(first_tea_bag),4-move_to(first_tea_bag,blue_cup),5-place(first_tea_bag,blue_cup),6-move_to(none,second_tea_bag),7-grasp(second_tea_bag),8-pick_up(second_tea_bag),9-move_to(second_tea_bag,yellow_cup),10-place(second_tea_bag,yellow_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_33_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the tea bag into two cups of different colors> as the goal, steps so far are shown in the video, is step 2-grasp(first_tea_bag) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_829_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a book and slightly open a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, book),2-grasp(book_cover),3-turn(book_cover,clockwise,state_cover),4-move_to(none, box),5-grasp(box_lid),6-push(box_cover,open_the_lid_of_the_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_829_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a book and slightly open a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-grasp(box_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_829_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close a book and slightly open a box> as the goal, steps so far are shown in the video, is step 3-turn(book_cover, clockwise, state_cover) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_2609_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing towels in a basket and a marker and tape in a mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "1-move_to(none,white_towel),2-grasp(white_towel),3-pick_up(white_towel),4-move_to(white_towel,basket),5-place(white_towel, basket),6-move_to(none,marker_pen),7-grasp(marker_pen),8-pick_up(marker_pen),9-move_to(marker_pen, mug),10-place(marker_pen, mug),11-move_to(none,yellow_towel),12-grasp(yellow_towel),13-pick_up(yellow_towel),14-move_to(yellow_towel,basket),15-place(yellow_towel, basket),16-move_to(none,tape),17-grasp(tape),18-pick_up(tape),19-move_to(tape, mug),20-place(tape, mug)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_2609_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing towels in a basket and a marker and tape in a mug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "8-pick_up(marker_pen)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_2609_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing towels in a basket and a marker and tape in a mug> as the goal, steps so far are shown in the video, is step 8-pick_up(marker_pen) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_2959_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a plate on a nightstand, putting a glove in the , and closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 14 steps.",
+    "gt_answer": "1-move_to(none,plate),2-grasp(plate_edge),3-pick_up(plate),4-move_to(plate,nightstand),5-place(dish, nightstand),6-move_to(none,glove),7-grasp(glove),8-pick_up(glove),9-move_to(glove,plate),10-place(glove, plate),11-move_to(none,drawer),12-grasp(drawer_handle),13-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_2959_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a plate on a nightstand, putting a glove in the , and closing a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, glove)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_2959_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a plate on a nightstand, putting a glove in the , and closing a drawer> as the goal, steps so far are shown in the video, is step 4-move_to(plate, nightstand) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_6053_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <replacing an empty tissue paper core with a new paper towel roll> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, empty_tissue_paper_core),2-grasp(empty_tissue_paper_core_edge),3-pick_up(empty_tissue_paper_core),4-move_to(empty_tissue_paper_core, table),5-place(empty_tissue_paper_core, table),6-move_to(none, new_paper_towel_roll),7-grasp(new_paper_towel_roll_edge),8-pick_up(new_paper_towel_roll),9-move_to(new_paper_towel_roll,roll paper holder),10-place(new_paper_towel_roll,roll_paper_holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_6053_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <replacing an empty tissue paper core with a new paper towel roll> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(empty_tissue_paper_core)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_6053_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <replacing an empty tissue paper core with a new paper towel roll> as the goal, steps so far are shown in the video, is step 1-move_to(none, empty_tissue_paper_core) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_12978_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver into a drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, screwdriver),2-grasp(screwdriver_handle),3-pick_up(screwdriver),4-move_to(screwdriver,drawer),5-place(screwdriver, drawer),6-move_to(none, drawer),7-grasp(drawer_handle),8-push(drawer_handle, drawer_close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_12978_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver into a drawer and closing it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(screwdriver)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_12978_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver into a drawer and closing it> as the goal, steps so far are shown in the video, is step 2-grasp(screwdriver_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_20648_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put a tray in the drawer and place a screwdriver on top of it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none,top_drawer),2-grasp(top_drawer_handle),3-pull(top_drawer_handle,state_open),4-move_to(none, tray),5-grasp(tray_edge),6-pick_up(tray),7-move_to(tray, drawer),8-place(tray, drawer),9-move_to(none, screwdriver),10-grasp(screwdriver_handle),11-pick_up(screwdriver),12-move_to(screwdriver, tray),13-place(screwdriver, tray)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_20648_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put a tray in the drawer and place a screwdriver on top of it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, tray)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_20648_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put a tray in the drawer and place a screwdriver on top of it> as the goal, steps so far are shown in the video, is step 3-pull(top_drawer_handle, state_open) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21625_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving gloves and placing an orange object in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, gloves),2-grasp(gloves),3-pick_up(gloves),4-move_to(gloves,table_left),5-place(gloves, left),6-move_to(none, orange_object),7-grasp(orange_object),8-pick_up(orange_object),9-move_to(orange_object, drawer),10-place(orange_object, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21625_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving gloves and placing an orange object in a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(gloves, table_left)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21625_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving gloves and placing an orange object in a drawer> as the goal, steps so far are shown in the video, is step 4-move_to(gloves, table_left) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_26064_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the left drawer and open the right drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, left_drawer),2-grasp(left_drawer_handle),3-push(left_drawer_handle,close),4-move_to(none, right_drawer),5-grasp(right_drawer_handle),6-pull(right_drawer_handle,left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_26064_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the left drawer and open the right drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(left_drawer_handle, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_26064_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the left drawer and open the right drawer> as the goal, steps so far are shown in the video, is step 3-push(left_drawer_handle, close) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_29808_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a blue object and place it in a drawer, then close the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, blue_object),2-grasp(blue_object),3-pick_up(blue_object),4-move_to(blue_object, drawer),5-place(blue_object, drawer),6-move_to(none,drawer),7-grasp(drawer_handle),8-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_29808_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a blue object and place it in a drawer, then close the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(blue_object)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_29808_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a blue object and place it in a drawer, then close the drawer> as the goal, steps so far are shown in the video, is step 2-grasp(blue_object) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_39181_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver into a drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, screwdriver),2-grasp(screwdriver_handle),3-pick_up(screwdriver),4-move_to(screwdriver, drawer),5-place(screwdriver, drawer),6-move_to(none,drawer),7-grasp(drawer_handle),8-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_39181_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver into a drawer and closing it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(screwdriver_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_39181_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver into a drawer and closing it> as the goal, steps so far are shown in the video, is step 3-pick_up(screwdriver) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_43348_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none, marker_pen),2-grasp(marker_pen),3-pick_up(marker_pen),4-move_to(marker_pen, towel),5-place(marker_pen,towel),6-move_to(none, towel),7-grasp(towel_left_corner),8-fold(towel_left_corner,towel_right_corner),9-move_to(none, folded_towel),10-grasp(folded_towel),11-pick_up(folded_towel),12-move_to(folded_towel, box),13-place(folded_towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_43348_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-grasp(towel_left_corner)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_43348_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, steps so far are shown in the video, is step 2-grasp(marker_pen) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_59157_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the top cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, left_top_cabinet_door),2-grasp(left_top_cabinet_door_handle),3-pull(left_top_cabinet_door_handle,left_state_open),4-move_to(none, right_top_cabinet_door),5-grasp(right_top_cabinet_door_handle),6-pull(right_top_cabinet_door_handle,right_state_open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_59157_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the top cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-grasp(right_top_cabinet_door_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_59157_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the top cabinet door> as the goal, steps so far are shown in the video, is step 5-grasp(right_top_cabinet_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_62700_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotating a coffee pod stand and placing a coffee pod onto the stand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, coffee_pod_stand),2-grasp(top_coffee_pod_stand),3-turn(coffee_pod_stand, clockwise,empty_slot_is_located_in _middle),4-move_to(none, loose_coffee_pod),5-grasp(loose_coffee_pod),6-pick_up(loose_coffee_pod),7-move_to(loose_coffee_pod, coffee_pod_stand),8-place(loose_coffee_pod, coffee_pod_stand)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_62700_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotating a coffee pod stand and placing a coffee pod onto the stand> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, loose_coffee_pod)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_62700_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotating a coffee pod stand and placing a coffee pod onto the stand> as the goal, steps so far are shown in the video, is step 3-turn(coffee_pod_stand, clockwise, empty_slot_is_located_in _middle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_65638_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a lid from a bottle, moving the bottle, and replacing the lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle_lid),3-pick_up(bottle_lid),4-move_to(bottle_lid, table_left),5-place(bottle_lid,table_left),6-move_to(none,bottle),7-grasp(bottle_above),8-pick_up(bottle),9-move_to(bottle,table_right),10-place(bottle,table_right),11-move_to(none, bottle_lid),12-grasp(bottle_lid),13-pick_up(bottle_lid),14-move_to(bottle_lid, bottle),15-place(bottle_lid,bottle_above)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_65638_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a lid from a bottle, moving the bottle, and replacing the lid> as the goal, steps so far are shown in the video, is step 6-move_to(none, bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_68640_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the box to the front of the microwave oven and opening a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none, box),2-grasp(box_edge),3-pick_up(box),4-move_to(box,front_of_ microwave),5-place(box, front_of_ microwave),6-move_to(none, cabinet_door),7-grasp(cabinet_door_handle),8-pull(cabinet_door_handle, open),9-move_to(none, cabinet_door),10-grasp(cabinet_door),11-pull(cabinet_door_handle,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_68640_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the box to the front of the microwave oven and opening a cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(box, front_of_ microwave)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_68640_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the box to the front of the microwave oven and opening a cabinet door> as the goal, steps so far are shown in the video, is step 4-move_to(box, front_of_ microwave) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_69895_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a coffee cup out of the sink and adjusting the faucet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, faucet),2-grasp(faucet),3-turn(fauce, anticlockwise,central_pool),4-move_to(none, coffee_cup),5-grasp(coffee_cup_edge),6-pick_up(coffee_cup),7-move_to(coffee_cup,table),8-place(coffee_cup,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_69895_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a coffee cup out of the sink and adjusting the faucet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(faucet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_69895_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a coffee cup out of the sink and adjusting the faucet> as the goal, steps so far are shown in the video, is step 4-move_to(none, coffee_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_70630_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove an pen from a bowl and move the bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen,bowl_right),5-place(pen,bowl_right),6-move_to(none, bowl),7-grasp(bowl_edge),8-pick_up(bowl),9-move_to(bowl,table_left),10-place(bowl,table_left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_72443_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white bottle inside in box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(white_bottle, box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_72443_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white bottle inside in box> as the goal, steps so far are shown in the video, is step 3-pick_up(white_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_73890_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a bowl and sweeping the paper to the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,bowl),2-grasp(bowl_edge),3-pick_up(bowl),4-pour(bowl,paper,table),5-move_to(bowl,table),6-place(bowl,table),7-move_to(none,broom),8-grasp(broom_handle),9-pick_up(broom),10-wipe(broom,paper,table_left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_73890_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a bowl and sweeping the paper to the left> as the goal, steps so far are shown in the video, is step 3-pick_up(bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-91_episode-4_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieve a block from a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer_handle,front_side_of_drawer),4-move_to(none,  blocks),5-grasp(blocks),6-pick_up(blocks),7-move_to(blocks, tablecloth),8-place(blocks, tablecloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-91_episode-4_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieve a block from a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-71_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a blocks into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, blocks),2-grasp(blocks),3-pick_up(blocks),4-move_to(blocks, drawer),5-place(blocks,drawer),6-move_to(none, drawer),7-grasp(drawer_handle),8-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-71_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a blocks into a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(blocks, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-71_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a blocks into a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, blocks) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_swipe_the_letter_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wiping letter magnets with a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,cloth),2-grasp(cloth),3-wipe(cloth,letter_building_block,table),4-move_to(cloth,mid_table)),5-place(cloth,mid_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_swipe_the_letter_episode_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wiping letter magnets with a cloth> as the goal, steps so far are shown in the video, is step 3-wipe(cloth, letter_building_block, table) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_clean_pour_water_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-right:move_to(none, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-move_to(water_bottle, mug),5-pour(water_bottle, water,mug),6-move_to(water_bottle, table),7-place(water_bottle,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_clean_pour_water_episode_5_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(water_bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_clean_pour_water_episode_5_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug> as the goal, steps so far are shown in the video, is step 6-move_to(water_bottle, table) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-6_rgbd-cam_high_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a bottle with water from a dispenser> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(sponge, dispenser),5-press(none, black_button),6-hold(bottle),7-move_to(bottle, table),8-place(bottle,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-6_rgbd-cam_high_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a bottle with water from a dispenser> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(sponge, dispenser)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-6_rgbd-cam_high_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a bottle with water from a dispenser> as the goal, steps so far are shown in the video, is step 2-grasp(bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a bottle with water from a dispenser> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(sponge, dispenser),5-press(none, black_button),6-hold(bottle),7-move_to(bottle, table),8-place(bottle,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a bottle with water from a dispenser> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(sponge, dispenser)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a bottle with water from a dispenser> as the goal, steps so far are shown in the video, is step 3-pick_up(bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_2576_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting potato in a pan and placing the pan on the stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(potato, pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_2576_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting potato in a pan and placing the pan on the stove> as the goal, steps so far are shown in the video, is step 3-pick_up(potato) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40516_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cheese on a plate and put the sausage in the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, chess),2-grasp(cheese),3-pick_up(cheese),4-move_to(cheese, plate),5-place(cheese,plate),6-move_to(none, sausage),7-grasp(sausage),8-pick_up(sausage),9-move_to(sausage, pot),10-place(sausage,pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40516_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cheese on a plate and put the sausage in the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(cheese, plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40516_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cheese on a plate and put the sausage in the pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, chess) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_1089_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the knife in the cup and use a spoon to scoop out the rice from the iron bowl and pour it into the plastic bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_1089_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the knife in the cup and use a spoon to scoop out the rice from the iron bowl and pour it into the plastic bowl> as the goal, steps so far are shown in the video, is step 6-move_to(none, spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_4058_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning paper trash from a countertop and disposing of it in a bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "1-move_to(none, paper_trash),2-grasp(paper_trash),3-pick_up(paper_trash),4-move_to(paper_trash, paper_bin),5-place(paper_trash, paper_bin),6-move_to(none, paper_trash),7-grasp(paper_trash),8-pick_up(paper_trash),9-move_to(paper_trash, paper_bin),10-place(paper_trash, paper_bin),11-move_to(none, paper_trash),12-grasp(paper_trash),13-pick_up(paper_trash),14-move_to(paper_trash, paper_bin),15-place(paper_trash, paper_bin),16-move_to(none, paper_trash),17-grasp(paper_trash),18-pick_up(paper_trash),19-move_to(paper_trash, paper_bin),20-place(paper_trash, paper_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_6458_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the rice from the cup into the bowl and stir with a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "8-move_to(none, spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_6458_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the rice from the cup into the bowl and stir with a spoon> as the goal, steps so far are shown in the video, is step 3-pick_up(cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_9683_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the coffee beans from the pot into a bowl and Put the zucchini and grapes on the table into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none, green_pot),2-grasp(green_pot),3-pick_up(green_pot),4-pour(green_pot, coffee_benas, green_bowl),5-place(green_pot, table),6-move_to(none, zucchini),7-grasp(zucchini),8-pick_up(zucchini),9-place(zucchini, green_pot),10-move_to(none, purple_grapes),11-grasp(purple_grapes),12-pick_up(purple_grapes),13-place(purple_grapes, green_pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_9683_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the coffee beans from the pot into a bowl and Put the zucchini and grapes on the table into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pour(green_pot, coffee_benas, green_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_9683_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the coffee beans from the pot into a bowl and Put the zucchini and grapes on the table into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, green_pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_10810_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing sugar in a cupboard> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none, cupboard),2-grasp(cupboard_handle),3-pull(cupborad_handle),4-move_to(none, sugar_container),5-grasp(sugar_container),6-pick_up(sugar_container),7-move_to(suger_container, cupboard),8-place(sugar_container, cupboard),9-move_to(none, cupboard),10-grasp(cupboard_door),11-push(cupboard_door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_10810_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing sugar in a cupboard> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, sugar_container)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_10810_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing sugar in a cupboard> as the goal, steps so far are shown in the video, is step 4-move_to(none, sugar_container) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11076_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving sugar from a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none, cupboard),2-grasp(cupboard_handle),3-pull(cupboard_handle),4-move_to(none, sugar_container),5-pick_up(sugar_container),6-move_to(sugar_container, table),7-place(sugar_container, table),8-move_to(none, cupboard),9-grasp(cupboard_door),10-push(cupboard_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11076_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving sugar from a cabinet> as the goal, steps so far are shown in the video, is step 2-grasp(cupboard_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11077_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir the food in the pot and cover it with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, pot),5-stir(spoon, food,pot),6-move_to(spoon, table),7-place(spoon, table),8-move_to(none, pot_lid),9-grasp(pot_lid_handle),10-pick_up(pot_lid),11-move_to(pot_lid, pot),12-place(pot_lie,pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11077_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir the food in the pot and cover it with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(spoon, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11077_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir the food in the pot and cover it with a lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_15941_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a jug with water from a faucet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 14 steps.",
+    "gt_answer": "1-move_to(none, faucet),2-grasp(faucet_switch),3-pick_up(faucet_switch),4-move_to(none, faucet),5-grasp(faucet),6-turn(faucet, clockwise, middle_of_sink),7-move_to(none, jug),8-grasp(jug),9-pick_up(jug),10-move_to(jug, running_water),11-hold(jug),12-move_to(jug, table),13-place(jug, table),14-move_to(none, faucet),15-grasp(faucet_switch),16-press(none, faucet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_15941_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a jug with water from a faucet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(faucet_switch)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_15941_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a jug with water from a faucet> as the goal, steps so far are shown in the video, is step 1-move_to(none, faucet) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24701_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <collecting water in a mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, mug),2-grasp(mug),3-pick_up(mug),4-move_to(mug, running_water),5-hold(mug),6-move_to(mug, table),7-place(mug, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24701_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <collecting water in a mug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(mug, running_water)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24701_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <collecting water in a mug> as the goal, steps so far are shown in the video, is step 2-grasp(mug) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_27523_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a mug to a pot on a scale and covering the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 17 steps.",
+    "gt_answer": "1-move_to(none, pot),2-grasp(pot),3-pick_up(pot),4-move_to(pot, scale),5-place(pot, scale),6-move_to(none, mug),7-grasp(mug_handle),8-pick_up(mug),9-move_to(mug, pot),10-pour(mug, contents, pot),11-move_to(mug, table),12-place(mug, table),13-move_to(none, pot_lid),14-grasp(pot_lid_handle),15-pick_up(pot_lid),16-move_to(pot_lid, pot),17-place(pot_lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_27523_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a mug to a pot on a scale and covering the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-grasp(mug_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_27523_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a mug to a pot on a scale and covering the pot> as the goal, steps so far are shown in the video, is step 2-grasp(pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_28951_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the coffee pod into the coffee maker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none, coffee_maker),2-grasp(coffee_maker_lid),3-turn(coffee_maker_lid, up, state_open),4-move_to(none, coffee_pod),5-grasp(coffee_pod),6-pick_up(coffee_pod),7-move_to(coffee_pod, coffee_maker),8-place(coffee_pod, coffee_maker),9-move_to(none, coffee_maker),10-grasp(coffee_maker_lid),11-turn(coffee_maker_lid, down, state_close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_28951_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the coffee pod into the coffee maker> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(coffee_maker_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_28951_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the coffee pod into the coffee maker> as the goal, steps so far are shown in the video, is step 2-grasp(coffee_maker_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_30664_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring some coffee bean  from a bowl to a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, table),5-place(cup, table),6-move_to(none, spoon),7-grasp(scoop_handle),8-pick_up(spoon),9-move_to(snoop, bowl),10-scoop(spoon, coffee_bean,bowl),11-move_to(snoop, pot),12-pour(snoop,coffee_bean, pot),13-scoop(ladle, bowl),14-pour(ladle, pot),15-move_to(spoon, table),16-place(spoon, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_30664_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring some coffee bean  from a bowl to a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "9-move_to(snoop, bowl), 10-scoop(spoon, coffee_bean, bowl), 11-move_to(snoop, pot), 12-pour(snoop, coffee_bean, pot), 13-scoop(ladle, bowl), 14-pour(ladle, pot), 15-move_to(spoon, table), 16-place(spoon, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_30664_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring some coffee bean  from a bowl to a pot> as the goal, steps so far are shown in the video, is step 5-place(cup, table) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_35910_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour the cup contents into a transparent bowl and cover it with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, transparent_bowl),5-pour(cup, contents, transparent_bowl),6-move_to(cup, table),7-place(cup, table),8-move_to(none, bowl_lid),9-grasp(bowl_lid_handle),10-pick_up(bowl_lid),11-move_to(bowl_lid, transparent_bowl),12-place(bowl_lid, transparent_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_35910_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour the cup contents into a transparent bowl and cover it with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_35910_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour the cup contents into a transparent bowl and cover it with a lid> as the goal, steps so far are shown in the video, is step 2-grasp(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_43452_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing plush toys into pots and wiping the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, plush_toy),2-grasp(plush_toy),3-pick_up(plush_toy),4-place(plush_toy, pot),5-pick_up(plush_toy),6-place(plush_toy, pot),7-pick_up(towel),8-wipe(towel, unknown, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_43452_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing plush toys into pots and wiping the counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-pick_up(plush_toy)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_43452_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing plush toys into pots and wiping the counter> as the goal, steps so far are shown in the video, is step 4-place(plush_toy, pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_51715_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none, pot_lid),2-grasp(pot_lid_handle),3-pick_up(pot_lid),4-move_to(pot_lid, table),5-place(pot_lid, table),6-move_to(none, bowl),7-grasp(bowl),8-pick_up(bowl),9-move_to(bowl, pot),10-pour(bowl, contents, pot),11-place(bowl, table),12-move_to(none, pot_lid),13-grasp(pot_lid_handle),14-pick_up(pot_lid),15-place(pot_lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_51715_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_51715_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_52343_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a counter and moving plush toys from a sink to the counter and stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-wipe(cloth, none, counter),2-grasp(plush_toy),3-pick_up(plush_toy),4-place(plush_toy, counter),5-grasp(plush_toy),6-pick_up(plush_toy),7-place(plush_toy, stove)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_52343_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a counter and moving plush toys from a sink to the counter and stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-pick_up(plush_toy)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_52343_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a counter and moving plush toys from a sink to the counter and stove> as the goal, steps so far are shown in the video, is step 3-pick_up(plush_toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_65194_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a slice of bread into an oven> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,oven),2-grasp(oven_door_handle),3-turn(oven_door_handle,down,state_open),4-move_to(none, spatula),5-grasp(spatula_handle),6-pick_up(spatula),7-move_to(spatula, palte),8-scoop(spatula, bread, plate),9-move_to(bread_and_spatula, oven),10-place(bread, oven),11-move_to(spatula, table),12-place(spatula, table),13-move_to(none,ove),14-grasp(oven_door_handle),15-turn(oven_door_handle,up,state_close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_65194_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a slice of bread into an oven> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, spatula)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_65194_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a slice of bread into an oven> as the goal, steps so far are shown in the video, is step 3-turn(oven_door_handle, down, state_open) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_70855_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none, marker_pen),2-grasp(marker_pen),3-pick_up(marker_pen),4-move_to(marker_pen, towel),5-place(marker_pen,towel),6-move_to(none, towel),7-grasp(towel_left_corner),8-fold(towel_left_corner,towel_right_corner),9-move_to(none, folded_towel),10-grasp(folded_towel),11-pick_up(folded_towel),12-move_to(folded_towel, box),13-place(folded_towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_70855_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_70855_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wrap the marker pen in a towel and put it in the box> as the goal, steps so far are shown in the video, is step 6-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_74617_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up all  french fries on the table and place it on a white plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, french_fries)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_74617_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up all  french fries on the table and place it on a white plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, french_fries) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_85805_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a red shirt from left drawer to right and closing the left drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, red_shirt),2-grasp(red_shirt),3-pick_up(red_shirt),4-move_to(red_shirt, right_drawer),5-place(red_shirt, right_drawer),6-move_to(none, left_drawer),7-grasp(left_drawer_handle),8-pull(left_drawer_handle,left_drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_85805_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a red shirt from left drawer to right and closing the left drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(red_shirt)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_85805_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a red shirt from left drawer to right and closing the left drawer> as the goal, steps so far are shown in the video, is step 3-pick_up(red_shirt) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_87030_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a slice of bread into an oven> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,oven),2-grasp(oven_door_handle),3-turn(oven_door_handle,down,state_open),4-move_to(none,shovel),5-grasp(shovel_handle),6-pick_up(shovel_and_bread),7-move_to(shovel_and_bread,plate),8-scoop(shovel,bread,plate),9-move_to(shovel,oven),10-pour(shovel,bread,oven),11-move_to(shovel,table),12-place(shovel,table),13-move_to(none,oven),14-grasp(oven_door_handle),15-turn(oven_door_handle,up,state_close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_87030_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a slice of bread into an oven> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(oven_door_handle, down, state_open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_87030_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a slice of bread into an oven> as the goal, steps so far are shown in the video, is step 7-move_to(shovel_and_bread, plate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_90118_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <After closing the drawer, open it and grab the toy inside before closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 14 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer_handle,close),4-move_to(none, drawer),5-grasp(drawer_handle),6-pull(drawer_handle,open),7-move_to(none, toy),8-grasp(toy),9-pick_up(toy),10-move_to(toy, drawer),11-place(toy, drawer),12-move_to(none, drawer),13-grasp(drawer_handle),14-push(drawer_handle,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_90118_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <After closing the drawer, open it and grab the toy inside before closing it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-pull(drawer_handle, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_90118_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <After closing the drawer, open it and grab the toy inside before closing it> as the goal, steps so far are shown in the video, is step 4-move_to(none, drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-91_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer and taking a block out> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer_handle,front_side_of_drawer),4-move_to(none, blocks),5-grasp(blocks),6-pick_up(blocks),7-move_to(blocks, tablecloth),8-place(blocks, tablecloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-91_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a drawer and taking a block out> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_pick_staples_into_stapler_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Load staples into the stapler> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(noen,staple),2-grasp(staple),3-pick_up(staple),4-move_to(staple,stapler),5-place(staple,stapler)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_pick_staples_into_stapler_episode_18_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Load staples into the stapler> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(staple)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_pick_staples_into_stapler_episode_18_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Load staples into the stapler> as the goal, steps so far are shown in the video, is step 1-move_to(noen, staple) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Opening a laptop and typing on the keyboard> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(no,laptop),2-grasp(laptop_lid),3-turn(laptop_lid,up,state_open),4-move_to(none,keyboard),5-press(none, keyboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_5_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Opening a laptop and typing on the keyboard> as the goal, steps so far are shown in the video, is step 1-move_to(no, laptop) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10906_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the potatoes in a pan and move them to the left stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,potato),2-grasp(potato),3-pick_up(potato),4-move_to(potato,pan),5-place(potato,pan),6-move_to(none,pan),7-grasp(pan_edge),8-pick_up(pan),9-place(pan, left_stove)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10906_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the potatoes in a pan and move them to the left stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(potato, pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10906_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the potatoes in a pan and move them to the left stove> as the goal, steps so far are shown in the video, is step 4-move_to(potato, pan) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1271_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a pot on the left stove and add cauliflower to it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,pot),2-grasp(pot_edge),3-pick_up(pot),4-move_to(pot, left_stove),5-place(pot, left_stove),6-move_to(none, cauliflower),7-grasp(cauliflower),8-pick_up(cauliflower),9-move_to(cauliflower, pot),10-place(cauliflower, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1271_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a pot on the left stove and add cauliflower to it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, cauliflower)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1271_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a pot on the left stove and add cauliflower to it> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12428_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red cube into a pan and then placing the pot on left stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,red_cube),2-grasp(red_cube),3-pick_up(red_cube),4-move_to(red_cube, pot),5-place(red_cube,pot),6-move_to(none, pot),7-grasp(pot_edge),8-pick_up(pot),9-place(pot,left_ stove),10-place(pot,left_ stove)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12428_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red cube into a pan and then placing the pot on left stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(red_cube, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12428_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red cube into a pan and then placing the pot on left stove> as the goal, steps so far are shown in the video, is step 2-grasp(red_cube) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13627_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a corncob on a plate and a cucumber in a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(corncob, plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13627_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a corncob on a plate and a cucumber in a pot> as the goal, steps so far are shown in the video, is step 3-pick_up(corncob) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_13735_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a stuffed animal on a plate and a toy sweet potato in a pot on a stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,stuffed_animal),2-grasp(stuffed_animal),3-pick_up(stuffed_animal),4-move_to(stuffed_animal, plate),5-place(stuffed_animal, plate),6-move_to(none,sweet_potato),7-grasp(sweet_potato),8-pick_up(sweet_potato),9-place(sweet_potato, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_13735_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a stuffed animal on a plate and a toy sweet potato in a pot on a stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, sweet_potato)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_13735_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a stuffed animal on a plate and a toy sweet potato in a pot on a stove> as the goal, steps so far are shown in the video, is step 5-place(stuffed_animal, plate) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_197_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <matching cups with the appropriate bowls> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,purple_cup),2-grasp(purple_cup_edge),3-pick_up(purple_cup),4-move_to(purple_cup, purple_bowl),5-place(purple_cup, purple_bowl),6-move_to(none,red_cup),7-grasp(red_cup_edge),8-pick_up(red_cup),9-move_to(red_cup,red_bowl),10-place(red_cup, rede_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_197_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <matching cups with the appropriate bowls> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, red_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_197_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <matching cups with the appropriate bowls> as the goal, steps so far are shown in the video, is step 2-grasp(purple_cup_edge) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_163_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a drawer and placing a sponge on it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pullout(drawer_handle, none),4-pull(drawer_handle,front_side_of_drawer),5-move_to(none, sponge),6-grasp(sponge),7-pick_up(sponge),8-move_to(sponge, drawer),9-place(sponge, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_163_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a drawer and placing a sponge on it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pull(drawer_handle, front_side_of_drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_163_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling out a drawer and placing a sponge on it> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_10661_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a bottle and a marker and place them in a drawer, then close the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, bottle), 2-pick_up(bottle), 3-move_to(none, marker), 4-pick_up(marker), 5-place(items, drawer), 6-close(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11190_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a object into a drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-place(screwdriver, in_drawer),5-grasp(drawer),6-push(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11190_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a object into a drawer and closing it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(screwdriver)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11190_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a object into a drawer and closing it> as the goal, steps so far are shown in the video, is step 4-place(screwdriver, in_drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11299_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a cup from a drawer and placing it on the counter, then closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, blue_cup),2-grasp(blue_cup),3-pick_up(blue_cup),4-place(cup, counter),5-grasp(drawer),6-push(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11299_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a cup from a drawer and placing it on the counter, then closing the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(blue_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_11299_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a cup from a drawer and placing it on the counter, then closing the drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_13407_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put the objeckt in the drawer and close it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-place(screwdriver, in_drawer),5-grasp(drawer),6-push(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_13407_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put the objeckt in the drawer and close it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(screwdriver)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_13407_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put the objeckt in the drawer and close it> as the goal, steps so far are shown in the video, is step 2-grasp(screwdriver) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_16242_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove the lid from a container, take out a box, place it on the counter, and put a ball inside the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none,lid),2-grasp(lid),3-pick_up(lid),4-place(lid,counter),5-move_to(none,box),6-grasp(box),7-pick_up(box),8-place(box,counter),9-move_to(none,ball),10-grasp(ball),11-pick_up(ball),12-place(ball,in_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_16242_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove the lid from a container, take out a box, place it on the counter, and put a ball inside the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_16242_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove the lid from a container, take out a box, place it on the counter, and put a ball inside the box> as the goal, steps so far are shown in the video, is step 4-place(lid, counter) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_18685_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring blocks from a bowl to a pot, placing the pot on a stove, and covering it with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "1-move_to(none,block),2-grasp(block),3-pick_up(block),4-place(block, pot),5-move_to(none,block),6-grasp(block),7-pick_up(block),8-place(block, pot),9-move_to(none,block),10-grasp(block),11-pick_up(block),12-place(block, pot),13-move_to(none,pot_handle),14-grasp(pot_handle),15-pick_up(pot_handle),16-place(pot, stove),17-move_to(none, lid_handle),18-grasp(lid_handle),19-pick_up(lid_handle),20-place(lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_18685_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring blocks from a bowl to a pot, placing the pot on a stove, and covering it with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "8-place(block, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_18685_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring blocks from a bowl to a pot, placing the pot on a stove, and covering it with a lid> as the goal, steps so far are shown in the video, is step 9-move_to(none, block), 10-grasp(block), 11-pick_up(block), 12-place(block, pot), 13-move_to(none, pot_handle), 14-grasp(pot_handle), 15-pick_up(pot_handle), 16-place(pot, stove), 17-move_to(none, lid_handle), 18-grasp(lid_handle), 19-pick_up(lid_handle), 20-place(lid, pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21739_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, wrap it, and place it in a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,marker),2-grasp(marker),3-pick_up(marker),4-place(marker,inside_towel),5-grasp(towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21739_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, wrap it, and place it in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-grasp(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21739_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, wrap it, and place it in a box> as the goal, steps so far are shown in the video, is step 4-place(marker, inside_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21874_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put a bottle in a bag and place the bag on a chair> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-place(bottle,inside_bag),5-grasp(bag),6-pick_up(bag),7-place(bag,chair)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21874_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put a bottle in a bag and place the bag on a chair> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-grasp(bag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_21874_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put a bottle in a bag and place the bag on a chair> as the goal, steps so far are shown in the video, is step 3-pick_up(bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22051_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing away a can and closing the bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-place(can, inside_bin),5-grasp(bin_lid),6-press(none, bin_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22051_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing away a can and closing the bin> as the goal, steps so far are shown in the video, is step 1-move_to(none, can) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22447_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place items surrounding and on a plate, then stack boxes> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 36 steps.",
+    "gt_answer": "1-grasp(white_bottle),2-pick_up(white_bottle),3-place(white_bottle,plate),4-grasp(white_bottle),5-pick_up(white_bottle),6-place(white_bottle,plate),7-grasp(brown_bottle),8-pick_up(brown_bottle),9-place(brown_bottle,plate),,10-grasp(yellow_bottle),11-pick_up(yellow_bottle),12-place(yellow_bottle,plate),13-grasp(green_bottle),14-pick_up(green_bottle),15-place(green_bottle,plate),16-grasp(orange),17-pick_up(orange),18-place(orange,plate),19-grasp(box),20-pick_up(box),21-place(box,sponge_pad),22-grasp(box),23-pick_up(box),24-place(box,on_box),25-grasp(box),26-pick_up(box),27-place(box,on_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22447_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place items surrounding and on a plate, then stack boxes> as the goal, steps so far are shown in the video, is step 2-pick_up(white_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22467_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <connect a charging adapter to an extension cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, charging_adapter),2-grasp(charging_adapter),3-pick_up(charging_adapter),4-insert(charging_adapter, extension_cable)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22467_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <connect a charging adapter to an extension cable> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(charging_adapter)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_22467_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <connect a charging adapter to an extension cable> as the goal, steps so far are shown in the video, is step 1-move_to(none, charging_adapter) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_23838_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl into the sink and turn on the faucet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, purple_bowl),2-grasp(purple_bowl),3-pick_up(purple_bowl),4-move_to(purple_bowl, sink),5-place(purple_bowl, sink),6-move_to(none, faucet),7-turn(faucet, clockwise, right_of_the_faucet),8-move_to(none, faucet_switch),9-grasp(faucet_switch),10-turn(faucet_switch, clockwise, right_of_faucet_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_23838_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl into the sink and turn on the faucet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(purple_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_23838_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl into the sink and turn on the faucet> as the goal, steps so far are shown in the video, is step 4-move_to(purple_bowl, sink) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24564_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-move_to(screwdriver, inside_of_drawer),5-place(screwdriver, drawer),6-move_to(none, drawer_handle),7-grasp(drawer_handle),8-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24564_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(screwdriver, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24564_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing the drawer> as the goal, steps so far are shown in the video, is step 2-grasp(screwdriver) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24986_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a building block into an open drawer and closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, building block),2-grasp(building_block),3-pick_up(buliding_block),4-move_to(buliding_block, inside_of_drawer),5-place(buliding_block, drawer),6-move_to(none, drawer_handle),7-grasp(drawer_handle),8-push(drawer_hendle, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24986_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a building block into an open drawer and closing the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(buliding_block, inside_of_drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_24986_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a building block into an open drawer and closing the drawer> as the goal, steps so far are shown in the video, is step 7-grasp(drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_26680_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a glass jar> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, jar),2-grasp(jar_lid),3-turn(jar_lid, counterclockwise, none),4-grasp(jar_lid),5-pick_up(jar_lid),6-move_to(jar_lid, desktop),7-grasp(jar_lid),8-place(jar_lid, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_26680_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a glass jar> as the goal, steps so far are shown in the video, is step 1-move_to(none, jar) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_28317_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring cereal into a mug and stirring it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, cereal_box),2-grasp(cereal_box),3-pick_up(cereal_box),4-scoop(spoon, cereal, cereal_box),5-move_to(cereal_box, mug),6-pour(cereal_box, cereal, mug),7-move_to(none, spoon),8-grasp(spoon),9-stir(spoon, cereal, mug)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_28317_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring cereal into a mug and stirring it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-move_to(none, spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_28317_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring cereal into a mug and stirring it> as the goal, steps so far are shown in the video, is step 2-grasp(cereal_box) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_30388_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker in a cup and then placing the cup on a countertop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, marker),2-grasp(marker),3-pick_up(marker),4-move_to(marker, cup),5-place(marker, cup),6-move_to(none, cup),7-grasp(cup),8-pick_up(cup),9-move_to(cup, countertop),10-place(cup, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_30388_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker in a cup and then placing the cup on a countertop> as the goal, steps so far are shown in the video, is step 6-move_to(none, cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_32279_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a cup into a bowl and then place the bowl onto a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, yellow_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_32279_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a cup into a bowl and then place the bowl onto a plate> as the goal, steps so far are shown in the video, is step 3-pick_up(blue_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_40282_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wetting a razor stick> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,faucet_switch),2-turn(faucet, up, none),3-move_to(none, razor),4-grasp(razor),5-pick_up(razor),6-move_to(razor,under_side_of_gaucet),7-hold(razor),8-move_to(razor, counter),9-place(razor, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_40282_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wetting a razor stick> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-grasp(razor)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_40282_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wetting a razor stick> as the goal, steps so far are shown in the video, is step 3-move_to(none, razor) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_42156_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a smaller bowl inside a larger bowl and then adding forks to the larger bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none, smaller_bowl),2-grasp(smaller_bowl),3-pick_up(smaller_bowl),4-move_to(smaller, larger_bowl),5-place(smaller, larger_bowl),6-move_to(none, left_fork),7-grasp(left_fork),8-pick_up(left_fork),9-move_to(left_fork, larger_bowl),10-place(left_fork, larger_bowl),11-move_to(none, right_bowl),12-grasp(right_bowl),13-pick_up(right_bowl),14-move_to(right_bowl, larger_bowl),15-place(right_bowl, larger_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_42156_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a smaller bowl inside a larger bowl and then adding forks to the larger bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(smaller, larger_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_42156_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a smaller bowl inside a larger bowl and then adding forks to the larger bowl> as the goal, steps so far are shown in the video, is step 3-pick_up(smaller_bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_46095_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the green square on top of the orange cup into the gray cup, remove the orange cup, and put the square under the orange cup into the gray cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 14 steps.",
+    "gt_answer": "1-move_to(none, green_block),2-grasp(green_block),3-pick_up(green_block),4-move_to(green_block, gray_cup),5-place(green_block, gray_cup),6-move_to(none, orange_cup),7-grasp(orange_cup),8-pick_up(orange_cup),9-move_to(orange_cup, right_of_desktop),10-move_to(none, red_and_yellow_blocks),11-grasp(red_and_yellow_blocks),12-pick_up(red_and_yellow_blocks),13-move_to(red_and_yellow_blocks, gray_cup),14-place(red_and_yellow_blocks, gray_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_46095_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the green square on top of the orange cup into the gray cup, remove the orange cup, and put the square under the orange cup into the gray cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(green_block, gray_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/multi_object/images/rtx_frames__new_85_85_droid#episode_46095_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "multi_object"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the green square on top of the orange cup into the gray cup, remove the orange cup, and put the square under the orange cup into the gray cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, green_block) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  }
+]
\ No newline at end of file
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+    "actions_list": [
+      "move_to(none, white_block)",
+      "grasp( white_block)",
+      "pivk_up( white_block)",
+      "move_to( white_block,left_box)",
+      "place( white_block,left_box)"
+    ],
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+      "move_to(none, white_block)": [
+        "grasp( white_block)"
+      ],
+      "grasp( white_block)": [
+        "pivk_up( white_block)"
+      ],
+      "pivk_up( white_block)": [
+        "move_to( white_block,left_box)"
+      ],
+      "move_to( white_block,left_box)": [
+        "place( white_block,left_box)"
+      ],
+      "place( white_block,left_box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-98_episode-3_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-45_episode-2_rgbd-1",
+    "actions_list": [
+      "grasp(cup_handle)",
+      "pick_up(cup_handle)",
+      "move_to(cup,green_table)",
+      "turn(cup,clockwis,rim_to_the_left)",
+      "place(cup,table)",
+      "move_to(none,cup_handle)",
+      "grasp(cup_hand)",
+      "pick_up(cup)",
+      "turn(cup,clockwis,rim_to_the_up)",
+      "place(cup,table)"
+    ],
+    "gt_dag": {
+      "grasp(cup_handle)": [
+        "pick_up(cup_handle)"
+      ],
+      "pick_up(cup_handle)": [
+        "move_to(cup,green_table)"
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+      "move_to(cup,green_table)": [
+        "turn(cup,clockwis,rim_to_the_left)"
+      ],
+      "turn(cup,clockwis,rim_to_the_left)": [
+        "place(cup,table)"
+      ],
+      "place(cup,table)": [
+        "move_to(none,cup_handle)"
+      ],
+      "move_to(none,cup_handle)": [
+        "grasp(cup_hand)"
+      ],
+      "grasp(cup_hand)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "turn(cup,clockwis,rim_to_the_up)"
+      ],
+      "turn(cup,clockwis,rim_to_the_up)": [],
+      "place(cup,table)<1>": [],
+      "_": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-45_episode-2_rgbd-1.png"
+  },
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+      "move_to(none, basket)",
+      "grasp(basket)",
+      "pick_up(basket)",
+      "move_to(basket,green_cloth)",
+      "place(basket,green_cloth)"
+    ],
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+      "move_to(none, basket)": [
+        "grasp(basket)"
+      ],
+      "grasp(basket)": [
+        "pick_up(basket)"
+      ],
+      "pick_up(basket)": [
+        "move_to(basket,green_cloth)"
+      ],
+      "move_to(basket,green_cloth)": [
+        "place(basket,green_cloth)"
+      ],
+      "place(basket,green_cloth)": []
+    },
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-85_episode-4_rgbd-1",
+    "actions_list": [
+      "move_to(none, wooden_block)",
+      "grasp(wooden_block)",
+      "pick_up(wooden_block)",
+      "move_to(wooden_block,behind_an_obstacle)",
+      "place(wooden_block, behind_an_obstacle)"
+    ],
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+      "move_to(none, wooden_block)": [
+        "grasp(wooden_block)"
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+      "grasp(wooden_block)": [
+        "pick_up(wooden_block)"
+      ],
+      "pick_up(wooden_block)": [
+        "move_to(wooden_block,behind_an_obstacle)"
+      ],
+      "move_to(wooden_block,behind_an_obstacle)": [
+        "place(wooden_block, behind_an_obstacle)"
+      ],
+      "place(wooden_block, behind_an_obstacle)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-85_episode-4_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-91_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, block)",
+      "grasp(block)",
+      "pick_up(block)",
+      "move_to(block,shelf)",
+      "place(block,shelf)"
+    ],
+    "gt_dag": {
+      "move_to(none, block)": [
+        "grasp(block)"
+      ],
+      "grasp(block)": [
+        "pick_up(block)"
+      ],
+      "pick_up(block)": [
+        "move_to(block,shelf)"
+      ],
+      "move_to(block,shelf)": [
+        "place(block,shelf)"
+      ],
+      "place(block,shelf)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-91_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-121_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, knife)",
+      "grasp(knife_handle)",
+      "pick_up(knife)",
+      "move_to(knife,orange)",
+      "cut(orange)"
+    ],
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+      "move_to(none, knife)": [
+        "grasp(knife_handle)"
+      ],
+      "grasp(knife_handle)": [
+        "pick_up(knife)"
+      ],
+      "pick_up(knife)": [
+        "move_to(knife,orange)"
+      ],
+      "move_to(knife,orange)": [
+        "cut(orange)"
+      ],
+      "cut(orange)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-121_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-89_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, plate)",
+      "grasp(plate)",
+      "pick_up(plate)",
+      "move_to(plate,table)",
+      "place(plate,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, plate)": [
+        "grasp(plate)"
+      ],
+      "grasp(plate)": [
+        "pick_up(plate)"
+      ],
+      "pick_up(plate)": [
+        "move_to(plate,table)"
+      ],
+      "move_to(plate,table)": [
+        "place(plate,table)"
+      ],
+      "place(plate,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-89_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-33_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, glass_rod)",
+      "grasp(glass_rod)",
+      "stir(glass_rod,water, glass)"
+    ],
+    "gt_dag": {
+      "move_to(none, glass_rod)": [
+        "grasp(glass_rod)"
+      ],
+      "grasp(glass_rod)": [
+        "stir(glass_rod,water, glass)"
+      ],
+      "stir(glass_rod,water, glass)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-33_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_maniwav_series-1_task-2_episode-105_rgb",
+    "actions_list": [
+      "move_to(none, bagel)",
+      "move_to(spatula, bagel)",
+      "turn(bagel, none)"
+    ],
+    "gt_dag": {
+      "move_to(none, bagel)": [
+        "move_to(spatula, bagel)"
+      ],
+      "move_to(spatula, bagel)": [
+        "turn(bagel, none)"
+      ],
+      "turn(bagel, none)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_ARIO_imgs_extract-frames_maniwav_series-1_task-2_episode-105_rgb.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_287",
+    "actions_list": [
+      "move_to(none, plug)",
+      "grasp(plug)",
+      "pullout(plug,plug_plates)",
+      "move_to(plug,table)",
+      "place( plug,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, plug)": [
+        "grasp(plug)"
+      ],
+      "grasp(plug)": [
+        "pullout(plug,plug_plates)"
+      ],
+      "pullout(plug,plug_plates)": [
+        "move_to(plug,table)"
+      ],
+      "move_to(plug,table)": [
+        "place( plug,table)"
+      ],
+      "place( plug,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_DSL_shrinked_unplug_charger_episode_287.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_292",
+    "actions_list": [
+      "move_to(none, plug)",
+      "grasp(plug)",
+      "pullout(plug,plug_plates)",
+      "move_to(plug,table)",
+      "place( plug,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, plug)": [
+        "grasp(plug)"
+      ],
+      "grasp(plug)": [
+        "pullout(plug,plug_plates)"
+      ],
+      "pullout(plug,plug_plates)": [
+        "move_to(plug,table)"
+      ],
+      "move_to(plug,table)": [
+        "place( plug,table)"
+      ],
+      "place( plug,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_DSL_shrinked_unplug_charger_episode_292.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1061",
+    "actions_list": [
+      "move_to(none, charger)",
+      "grasp(charger)",
+      "pullout(charger, socket)",
+      "move_to(charger,table)",
+      "place(charger,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, charger)": [
+        "grasp(charger)"
+      ],
+      "grasp(charger)": [
+        "pullout(charger, socket)"
+      ],
+      "pullout(charger, socket)": [
+        "move_to(charger,table)"
+      ],
+      "move_to(charger,table)": [
+        "place(charger,table)"
+      ],
+      "place(charger,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_DSL_shrinked_unplug_charger_episode_1061.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1601",
+    "actions_list": [
+      "move_to(none, charger)",
+      "grasp(charger)",
+      "pullout(charger, socket)",
+      "move_to(charger,table)",
+      "place(charger,table)"
+    ],
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+      "move_to(none, charger)": [
+        "grasp(charger)"
+      ],
+      "grasp(charger)": [
+        "pullout(charger, socket)"
+      ],
+      "pullout(charger, socket)": [
+        "move_to(charger,table)"
+      ],
+      "move_to(charger,table)": [
+        "place(charger,table)"
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+      "place(charger,table)": []
+    },
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+  },
+  {
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+      "move_to(none, blue_cup)",
+      "grasp(blue_cup)",
+      "pick_up(blue_cup)",
+      "move_to(blue_cup,brown_cup)",
+      "place(blue_cup,brown_cup)"
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+      "move_to(none, blue_cup)": [
+        "grasp(blue_cup)"
+      ],
+      "grasp(blue_cup)": [
+        "pick_up(blue_cup)"
+      ],
+      "pick_up(blue_cup)": [
+        "move_to(blue_cup,brown_cup)"
+      ],
+      "move_to(blue_cup,brown_cup)": [
+        "place(blue_cup,brown_cup)"
+      ],
+      "place(blue_cup,brown_cup)": []
+    },
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11385",
+    "actions_list": [
+      "move_to(none, banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana,left_edge_of_the_table)",
+      "place(banana,left_edge_of_the_table)"
+    ],
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+      "move_to(none, banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
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+        "move_to(banana,left_edge_of_the_table)"
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+        "place(banana,left_edge_of_the_table)"
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+  },
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+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23125",
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+      "move_to(none, can)",
+      "grasp(can)",
+      "push(can, left_side_of_the_table)"
+    ],
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+      "move_to(none, can)": [
+        "grasp(can)"
+      ],
+      "grasp(can)": [
+        "push(can, left_side_of_the_table)"
+      ],
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24944",
+    "actions_list": [
+      "move_to(none, cucumber)",
+      "grasp(cucumber)",
+      "pick_up(cucumber)",
+      "move_to(cucumber, lower_right_corner_of_the_stove)",
+      "place(cucumber, lower_right_corner_of_the_stove)"
+    ],
+    "gt_dag": {
+      "move_to(none, cucumber)": [
+        "grasp(cucumber)"
+      ],
+      "grasp(cucumber)": [
+        "pick_up(cucumber)"
+      ],
+      "pick_up(cucumber)": [
+        "move_to(cucumber, lower_right_corner_of_the_stove)"
+      ],
+      "move_to(cucumber, lower_right_corner_of_the_stove)": [
+        "place(cucumber, lower_right_corner_of_the_stove)"
+      ],
+      "place(cucumber, lower_right_corner_of_the_stove)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_12_49_bridge#episode_24944.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_25344",
+    "actions_list": [
+      "move_to(none,pot)",
+      "grasp(edge_of_the_pot)",
+      "pick_up(pot)",
+      "move_to(pot,top_of_the_table)",
+      "place(pot,top_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none,pot)": [
+        "grasp(edge_of_the_pot)"
+      ],
+      "grasp(edge_of_the_pot)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot,top_of_the_table)"
+      ],
+      "move_to(pot,top_of_the_table)": [
+        "place(pot,top_of_the_table)"
+      ],
+      "place(pot,top_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_13_49_bridge#episode_25344.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_14277",
+    "actions_list": [
+      "move_to(none, toy_sushi)",
+      "grasp(toy_sushi)",
+      "pick_up(toy_sushi)",
+      "move_to(toy_sushi, left_side_of_the_table)",
+      "place(toy_sushi,left_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, toy_sushi)": [
+        "grasp(toy_sushi)"
+      ],
+      "grasp(toy_sushi)": [
+        "pick_up(toy_sushi)"
+      ],
+      "pick_up(toy_sushi)": [
+        "move_to(toy_sushi, left_side_of_the_table)"
+      ],
+      "move_to(toy_sushi, left_side_of_the_table)": [
+        "place(toy_sushi,left_side_of_the_table)"
+      ],
+      "place(toy_sushi,left_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_14277.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_1665",
+    "actions_list": [
+      "move_to(none,cucumber)",
+      "grasp(cucumber)",
+      "pick_up(cucumber)",
+      "move_to(cucumber,right_side_of_the_table)",
+      "place(cucumber,right_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none,cucumber)": [
+        "grasp(cucumber)"
+      ],
+      "grasp(cucumber)": [
+        "pick_up(cucumber)"
+      ],
+      "pick_up(cucumber)": [
+        "move_to(cucumber,right_side_of_the_table)"
+      ],
+      "move_to(cucumber,right_side_of_the_table)": [
+        "place(cucumber,right_side_of_the_table)"
+      ],
+      "place(cucumber,right_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_1665.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_26313",
+    "actions_list": [
+      "move_to(none,broccoli)",
+      "grasp(broccoli)",
+      "pick_up(broccoli)",
+      "move_to(broccoli,right_the_carrots)",
+      "place(broccoli,right_the_carrots)"
+    ],
+    "gt_dag": {
+      "move_to(none,broccoli)": [
+        "grasp(broccoli)"
+      ],
+      "grasp(broccoli)": [
+        "pick_up(broccoli)"
+      ],
+      "pick_up(broccoli)": [
+        "move_to(broccoli,right_the_carrots)"
+      ],
+      "move_to(broccoli,right_the_carrots)": [
+        "place(broccoli,right_the_carrots)"
+      ],
+      "place(broccoli,right_the_carrots)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_26313.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52657",
+    "actions_list": [
+      "move_to(pot_handle)",
+      "grasp(pot_handle)",
+      "pick_up(pot_handle)",
+      "turn(pot_handle,up,mouth-of_the_pot_facing_upwards)",
+      "place(pot,table)"
+    ],
+    "gt_dag": {
+      "move_to(pot_handle)": [
+        "grasp(pot_handle)"
+      ],
+      "grasp(pot_handle)": [
+        "pick_up(pot_handle)"
+      ],
+      "pick_up(pot_handle)": [
+        "turn(pot_handle,up,mouth-of_the_pot_facing_upwards)"
+      ],
+      "turn(pot_handle,up,mouth-of_the_pot_facing_upwards)": [
+        "place(pot,table)"
+      ],
+      "place(pot,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52657.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_0_15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_90",
+    "actions_list": [
+      "pick_up(grid_clamp)",
+      "move_to(grid_clamp, target_location)",
+      "place(grid_clamp, target_location)"
+    ],
+    "gt_dag": {
+      "pick_up(grid_clamp)": [
+        "move_to(grid_clamp, target_location)"
+      ],
+      "move_to(grid_clamp, target_location)": [
+        "place(grid_clamp, target_location)"
+      ],
+      "place(grid_clamp, target_location)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_0_15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_90.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_31",
+    "actions_list": [
+      "move_to(none, chess_piece)",
+      "grasp(chess_piece)",
+      "pick_up(chess_piece)",
+      "move_to(chess_piece,top_of_the_table)",
+      "place(chess_piece,top_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, chess_piece)": [
+        "grasp(chess_piece)"
+      ],
+      "grasp(chess_piece)": [
+        "pick_up(chess_piece)"
+      ],
+      "pick_up(chess_piece)": [
+        "move_to(chess_piece,top_of_the_table)"
+      ],
+      "move_to(chess_piece,top_of_the_table)": [
+        "place(chess_piece,top_of_the_table)"
+      ],
+      "place(chess_piece,top_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_23_55_dobbe#episode_31.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2748",
+    "actions_list": [
+      "move_to(none, charger)",
+      "grasp(charger)",
+      "pick_up(charger)",
+      "move_to(charger,sponge_pad)",
+      "place(charger,sponge_pad)"
+    ],
+    "gt_dag": {
+      "move_to(none, charger)": [
+        "grasp(charger)"
+      ],
+      "grasp(charger)": [
+        "pick_up(charger)"
+      ],
+      "pick_up(charger)": [
+        "move_to(charger,sponge_pad)"
+      ],
+      "move_to(charger,sponge_pad)": [
+        "place(charger,sponge_pad)"
+      ],
+      "place(charger,sponge_pad)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2748.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_404",
+    "actions_list": [
+      "move_to(none, building_block)",
+      "grasp(building_block)",
+      "pick_up(building_block)",
+      "move_to(building_block, left_side_of_the_table)",
+      "place(building_block,left_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, building_block)": [
+        "grasp(building_block)"
+      ],
+      "grasp(building_block)": [
+        "pick_up(building_block)"
+      ],
+      "pick_up(building_block)": [
+        "move_to(building_block, left_side_of_the_table)"
+      ],
+      "move_to(building_block, left_side_of_the_table)": [
+        "place(building_block,left_side_of_the_table)"
+      ],
+      "place(building_block,left_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_24_55_dobbe#episode_404.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4255",
+    "actions_list": [
+      "move_to(none, cosmetic_bottles)",
+      "grasp(cosmetic_bottle)",
+      "pick_up(cosmetic_bottle)",
+      "move_to(cosmetic_bottle, cosmetic_bottle_holder)",
+      "place(cosmetic_bottle, cosmetic_bottle_holder)"
+    ],
+    "gt_dag": {
+      "move_to(none, cosmetic_bottles)": [
+        "grasp(cosmetic_bottle)"
+      ],
+      "grasp(cosmetic_bottle)": [
+        "pick_up(cosmetic_bottle)"
+      ],
+      "pick_up(cosmetic_bottle)": [
+        "move_to(cosmetic_bottle, cosmetic_bottle_holder)"
+      ],
+      "move_to(cosmetic_bottle, cosmetic_bottle_holder)": [
+        "place(cosmetic_bottle, cosmetic_bottle_holder)"
+      ],
+      "place(cosmetic_bottle, cosmetic_bottle_holder)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4255.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4949",
+    "actions_list": [
+      "move_to(none, sunscreen)",
+      "grasp(sunscreen)",
+      "pick_up(sunscreen)",
+      "move_to(sunscreen, left_original_position)",
+      "place(sunscreen, bath_counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, sunscreen)": [
+        "grasp(sunscreen)"
+      ],
+      "grasp(sunscreen)": [
+        "pick_up(sunscreen)"
+      ],
+      "pick_up(sunscreen)": [
+        "move_to(sunscreen, left_original_position)"
+      ],
+      "move_to(sunscreen, left_original_position)": [
+        "place(sunscreen, bath_counter)"
+      ],
+      "place(sunscreen, bath_counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4949.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_64_86_fanuc_manipulation_v2#episode_96",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, table)",
+      "place(cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_64_86_fanuc_manipulation_v2#episode_96.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_31_57_fmb#episode_5854",
+    "actions_list": [
+      "move_to(green_block)",
+      "grasp(green_block)",
+      "pick_up(green_block)",
+      "move_to(green_block, black_bracket)",
+      "place(green_block, black_bracket)",
+      "move_to(none, green_block)",
+      "grasp(green_block_top)",
+      "pick_up(green_block_top)",
+      "turn(green_block, down,mouth_downward)",
+      "move_to(green_block, card-slots)",
+      "insert(green_block, card-slots)"
+    ],
+    "gt_dag": {
+      "move_to(green_block)": [
+        "grasp(green_block)"
+      ],
+      "grasp(green_block)": [
+        "pick_up(green_block)"
+      ],
+      "pick_up(green_block)": [
+        "move_to(green_block, black_bracket)"
+      ],
+      "move_to(green_block, black_bracket)": [
+        "place(green_block, black_bracket)"
+      ],
+      "place(green_block, black_bracket)": [
+        "move_to(none, green_block)"
+      ],
+      "move_to(none, green_block)": [
+        "grasp(green_block_top)"
+      ],
+      "grasp(green_block_top)": [
+        "pick_up(green_block_top)"
+      ],
+      "pick_up(green_block_top)": [
+        "turn(green_block, down,mouth_downward)"
+      ],
+      "turn(green_block, down,mouth_downward)": [
+        "move_to(green_block, card-slots)"
+      ],
+      "move_to(green_block, card-slots)": [
+        "insert(green_block, card-slots)"
+      ],
+      "insert(green_block, card-slots)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_31_57_fmb#episode_5854.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_18129",
+    "actions_list": [
+      "move_to(none,pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen,bottom_right_corner_of_the_table)",
+      "place(pen,bottom_right_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none,pen)": [
+        "grasp(pen)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen,bottom_right_corner_of_the_table)"
+      ],
+      "move_to(pen,bottom_right_corner_of_the_table)": [
+        "place(pen,bottom_right_corner_of_the_table)"
+      ],
+      "place(pen,bottom_right_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_18129.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_19993",
+    "actions_list": [
+      "move_to(none, monitor)",
+      "grasp(monitor)",
+      "turn(monitor, clockwise,none)"
+    ],
+    "gt_dag": {
+      "move_to(none, monitor)": [
+        "grasp(monitor)"
+      ],
+      "grasp(monitor)": [
+        "turn(monitor, clockwise,none)"
+      ],
+      "turn(monitor, clockwise,none)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_19993.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_33898",
+    "actions_list": [
+      "move_to(none, headphones)",
+      "grasp(headphones)",
+      "pick_up(headphones)",
+      "move_to(headphones,monitor_stand_top)",
+      "place(headphones,monitor_stand)"
+    ],
+    "gt_dag": {
+      "move_to(none, headphones)": [
+        "grasp(headphones)"
+      ],
+      "grasp(headphones)": [
+        "pick_up(headphones)"
+      ],
+      "pick_up(headphones)": [
+        "move_to(headphones,monitor_stand_top)"
+      ],
+      "move_to(headphones,monitor_stand_top)": [
+        "place(headphones,monitor_stand)"
+      ],
+      "place(headphones,monitor_stand)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_33898.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_46445",
+    "actions_list": [
+      "move_to(none, storage_box)",
+      "grasp(storage_box_handle)",
+      "pull(storage_box, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, storage_box)": [
+        "grasp(storage_box_handle)"
+      ],
+      "grasp(storage_box_handle)": [
+        "pull(storage_box, open)"
+      ],
+      "pull(storage_box, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_46445.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_64490",
+    "actions_list": [
+      "move_to(none, book)",
+      "grasp(book)",
+      "pick_up(book)",
+      "move_to(book,shelf)",
+      "place(book,shelf)"
+    ],
+    "gt_dag": {
+      "move_to(none, book)": [
+        "grasp(book)"
+      ],
+      "grasp(book)": [
+        "pick_up(book)"
+      ],
+      "pick_up(book)": [
+        "move_to(book,shelf)"
+      ],
+      "move_to(book,shelf)": [
+        "place(book,shelf)"
+      ],
+      "place(book,shelf)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_64490.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_66182",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl,edge_of_table)",
+      "pick_up(bowl,edge_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl,edge_of_table)"
+      ],
+      "move_to(bowl,edge_of_table)": [
+        "pick_up(bowl,edge_of_table)"
+      ],
+      "pick_up(bowl,edge_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_66182.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_70776",
+    "actions_list": [
+      "move_to(none,bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle,upper_right_corner_of_the_table)",
+      "place(bottle, upper_right_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none,bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle,upper_right_corner_of_the_table)"
+      ],
+      "move_to(bottle,upper_right_corner_of_the_table)": [
+        "place(bottle, upper_right_corner_of_the_table)"
+      ],
+      "place(bottle, upper_right_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_70776.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_71329",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, mug)",
+      "place(marker, mug)",
+      "move_to(none,marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker,table)",
+      "place(marker,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "move_to(marker, mug)": [
+        "place(marker, mug)"
+      ],
+      "place(marker, mug)": [],
+      "move_to(none,marker)": [
+        "grasp(marker)<1>"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, mug)"
+      ],
+      "place(marker,table)": [],
+      "grasp(marker)<1>": [
+        "pick_up(marker)<1>"
+      ],
+      "pick_up(marker)<1>": [
+        "move_to(marker,table)"
+      ],
+      "move_to(marker,table)": [
+        "place(marker,table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_71329.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_77644",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon,mug)",
+      "place(spoon,mug)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon,mug)"
+      ],
+      "move_to(spoon,mug)": [
+        "place(spoon,mug)"
+      ],
+      "place(spoon,mug)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_77644.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_90987",
+    "actions_list": [
+      "move_to(none, pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen,above_the_table)",
+      "place(pen,above_the_table)",
+      "move_to(none, pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen,cup)",
+      "place(pen,cup)",
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "unfold(right_side_of_towel, left_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(pen,above_the_table)": [
+        "place(pen,above_the_table)"
+      ],
+      "place(pen,above_the_table)": [],
+      "move_to(none, pen)": [
+        "grasp(pen)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen,above_the_table)"
+      ],
+      "place(pen,cup)": [],
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "unfold(right_side_of_towel, left_side_of_towel)"
+      ],
+      "unfold(right_side_of_towel, left_side_of_towel)": [],
+      "move_to(none, pen)<1>": [
+        "grasp(pen)<1>"
+      ],
+      "grasp(pen)<1>": [
+        "pick_up(pen)<1>"
+      ],
+      "pick_up(pen)<1>": [
+        "move_to(pen,cup)"
+      ],
+      "move_to(pen,cup)": [
+        "place(pen,cup)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_90987.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_tienkung_xsens_1rgb_nut_place_train_2024-10-08-11-31-15",
+    "actions_list": [
+      "move_to(none, right_toy_tire)",
+      "grasp(right_toy_tire)",
+      "pick_up(right_toy_tire)",
+      "move_to(toy_tire, box)",
+      "place(toy_tire, box)",
+      "move_to(none, left_toy_tire)",
+      "grasp( left_toy_tire)",
+      "pick_up( left_toy_tire)",
+      "move_to(toy_tire, box)",
+      "place(toy_tire, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, right_toy_tire)": [
+        "grasp(right_toy_tire)"
+      ],
+      "grasp(right_toy_tire)": [
+        "pick_up(right_toy_tire)"
+      ],
+      "pick_up(right_toy_tire)": [
+        "move_to(toy_tire, box)"
+      ],
+      "move_to(none, left_toy_tire)": [
+        "grasp( left_toy_tire)"
+      ],
+      "move_to(toy_tire, box)": [
+        "place(toy_tire, box)"
+      ],
+      "place(toy_tire, box)": [],
+      "place(toy_tire, box)<1>": [],
+      "grasp( left_toy_tire)": [
+        " pick_up( left_toy_tire) "
+      ],
+      " pick_up( left_toy_tire) ": [
+        "move_to(toy_tire, box)<1>"
+      ],
+      "move_to(toy_tire, box)<1>": [
+        "place(toy_tire, box)<1>"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_tienkung_xsens_1rgb_nut_place_train_2024-10-08-11-31-15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_tienkung_gello_1rgb_lift_pot_lid_and_place_it_to_the_right_of_the_pot_train_1212_181552",
+    "actions_list": [
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, table)",
+      "place(pot_lid, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid_handle)"
+      ],
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid, table)"
+      ],
+      "move_to(pot_lid, table)": [
+        "place(pot_lid, table)"
+      ],
+      "place(pot_lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_tienkung_gello_1rgb_lift_pot_lid_and_place_it_to_the_right_of_the_pot_train_1212_181552.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_165216",
+    "actions_list": [
+      "pick_up(pot_lid)",
+      "move_to(pot_lid,table)",
+      "place(pot_lid, table)"
+    ],
+    "gt_dag": {
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid,table)"
+      ],
+      "move_to(pot_lid,table)": [
+        "place(pot_lid, table)"
+      ],
+      "place(pot_lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_165216.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_142447",
+    "actions_list": [
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid_handle)"
+      ],
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_142447.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_153139",
+    "actions_list": [
+      "pick_up(plastic_bottle)",
+      "move_to(plastic_bottle, trash_can)",
+      "place(plastic_bottle, trash_can)"
+    ],
+    "gt_dag": {
+      "pick_up(plastic_bottle)": [
+        "move_to(plastic_bottle, trash_can)"
+      ],
+      "move_to(plastic_bottle, trash_can)": [
+        "place(plastic_bottle, trash_can)"
+      ],
+      "place(plastic_bottle, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_153139.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112243",
+    "actions_list": [
+      "pick_up(paper_ball)",
+      "move_to(paper_ball, trash_can)",
+      "place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "pick_up(paper_ball)": [
+        "move_to(paper_ball, trash_can)"
+      ],
+      "move_to(paper_ball, trash_can)": [
+        "place(paper_ball, trash_can)"
+      ],
+      "place(paper_ball, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112243.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_cover_pot_lid_train_1017_141249",
+    "actions_list": [
+      "pick_up(pot_lid,pot)",
+      "move_to(pot_lid,pot)",
+      "place(pot_lid, pot)"
+    ],
+    "gt_dag": {
+      "pick_up(pot_lid,pot)": [
+        "move_to(pot_lid,pot)"
+      ],
+      "move_to(pot_lid,pot)": [
+        "place(pot_lid, pot)"
+      ],
+      "place(pot_lid, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_cover_pot_lid_train_1017_141249.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_140313",
+    "actions_list": [
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid_handle)"
+      ],
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_140313.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_132930",
+    "actions_list": [
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)",
+      "move_to(pot_lid,table)",
+      "place(pot_lid,table)"
+    ],
+    "gt_dag": {
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid,table)"
+      ],
+      "move_to(pot_lid,table)": [
+        "place(pot_lid,table)"
+      ],
+      "place(pot_lid,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_132930.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_140858",
+    "actions_list": [
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)",
+      "move_to(pot_lid,table)",
+      "place(pot_lid,table)"
+    ],
+    "gt_dag": {
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid,table)"
+      ],
+      "move_to(pot_lid,table)": [
+        "place(pot_lid,table)"
+      ],
+      "place(pot_lid,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_140858.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_164141",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer, open)"
+      ],
+      "pull(drawer, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_164141.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1017_113400",
+    "actions_list": [
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid_handle)"
+      ],
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_open_pot_lid_train_1017_113400.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_112910",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer, open)"
+      ],
+      "pull(drawer, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_112910.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_cover_pot_lid_train_1016_143634",
+    "actions_list": [
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, pot)",
+      "place(pot_lid, pot)"
+    ],
+    "gt_dag": {
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid, pot)"
+      ],
+      "move_to(pot_lid, pot)": [
+        "place(pot_lid, pot)"
+      ],
+      "place(pot_lid, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_cover_pot_lid_train_1016_143634.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_142534",
+    "actions_list": [
+      "pick_up(long_bread)",
+      "move_to(long_bread,drawer)",
+      "place(long_bread, drawer)"
+    ],
+    "gt_dag": {
+      "pick_up(long_bread)": [
+        "move_to(long_bread,drawer)"
+      ],
+      "move_to(long_bread,drawer)": [
+        "place(long_bread, drawer)"
+      ],
+      "place(long_bread, drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_142534.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_144333",
+    "actions_list": [
+      "pick_up(pot_lid)",
+      "move_to(pot_lid,table)",
+      "place(pot_lid,table)"
+    ],
+    "gt_dag": {
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid,table)"
+      ],
+      "move_to(pot_lid,table)": [
+        "place(pot_lid,table)"
+      ],
+      "place(pot_lid,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_144333.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1018_155501",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1018_155501.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1021_170134",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1021_170134.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163317",
+    "actions_list": [
+      "pick_up(toast)",
+      "place(toast, drawer)"
+    ],
+    "gt_dag": {
+      "pick_up(toast)": [
+        "place(toast, drawer)"
+      ],
+      "place(toast, drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163317.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_155125",
+    "actions_list": [
+      "pick_up(plastic_bottle)",
+      "move_to( plastic_bottle,trash_can)",
+      "place(plastic_bottle, trash_can)"
+    ],
+    "gt_dag": {
+      "pick_up(plastic_bottle)": [
+        "move_to( plastic_bottle,trash_can)"
+      ],
+      "move_to( plastic_bottle,trash_can)": [
+        "place(plastic_bottle, trash_can)"
+      ],
+      "place(plastic_bottle, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_155125.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_144355",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer, open)"
+      ],
+      "pull(drawer, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_144355.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_153903",
+    "actions_list": [
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, right_yellow_pepper_on_table)",
+      "place(pot_lid, table)"
+    ],
+    "gt_dag": {
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid, right_yellow_pepper_on_table)"
+      ],
+      "move_to(pot_lid, right_yellow_pepper_on_table)": [
+        "place(pot_lid, table)"
+      ],
+      "place(pot_lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_153903.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1018_180619",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1018_180619.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_101133",
+    "actions_list": [
+      "pick_up(mangosteen)",
+      "move_to(mangosteen,drawer)",
+      "place(mangosteen,drawer)"
+    ],
+    "gt_dag": {
+      "pick_up(mangosteen)": [
+        "move_to(mangosteen,drawer)"
+      ],
+      "move_to(mangosteen,drawer)": [
+        "place(mangosteen,drawer)"
+      ],
+      "place(mangosteen,drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_101133.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_160036",
+    "actions_list": [
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, table)",
+      "place(pot_lid, table)"
+    ],
+    "gt_dag": {
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid, table)"
+      ],
+      "move_to(pot_lid, table)": [
+        "place(pot_lid, table)"
+      ],
+      "place(pot_lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_160036.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_161047",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer,open)"
+      ],
+      "pull(drawer,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_161047.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_154459",
+    "actions_list": [
+      "pick_up(plastic_bottle)",
+      "move_to( plastic_bottle,trash_can)",
+      "place(plastic_bottle, trash_can)"
+    ],
+    "gt_dag": {
+      "pick_up(plastic_bottle)": [
+        "move_to( plastic_bottle,trash_can)"
+      ],
+      "move_to( plastic_bottle,trash_can)": [
+        "place(plastic_bottle, trash_can)"
+      ],
+      "place(plastic_bottle, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_154459.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_104536",
+    "actions_list": [
+      "pick_up(egg)",
+      "move_to(egg, pot)",
+      "place(egg, pot)"
+    ],
+    "gt_dag": {
+      "pick_up(egg)": [
+        "move_to(egg, pot)"
+      ],
+      "move_to(egg, pot)": [
+        "place(egg, pot)"
+      ],
+      "place(egg, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_104536.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_143606",
+    "actions_list": [
+      "pick_up(red_can)",
+      "move_to( red_can,trash_can)",
+      "place(red_can, trash_can)"
+    ],
+    "gt_dag": {
+      "pick_up(red_can)": [
+        "move_to( red_can,trash_can)"
+      ],
+      "move_to( red_can,trash_can)": [
+        "place(red_can, trash_can)"
+      ],
+      "place(red_can, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_143606.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_143729",
+    "actions_list": [
+      "pick_up(bread)",
+      "move_to(bread, drawer)",
+      "place(bread, drawer)"
+    ],
+    "gt_dag": {
+      "pick_up(bread)": [
+        "move_to(bread, drawer)"
+      ],
+      "move_to(bread, drawer)": [
+        "place(bread, drawer)"
+      ],
+      "place(bread, drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_143729.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112106",
+    "actions_list": [
+      "pick_up(paper_ball)",
+      "move_to(paper_ball,trash_can)",
+      "place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "pick_up(paper_ball)": [
+        "move_to(paper_ball,trash_can)"
+      ],
+      "move_to(paper_ball,trash_can)": [
+        "place(paper_ball, trash_can)"
+      ],
+      "place(paper_ball, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112106.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150510",
+    "actions_list": [
+      "pick_up(right_bule_cap)",
+      "move_to(right_bule_cap,trash_can)",
+      "place(right_bule_cap, trash_can)"
+    ],
+    "gt_dag": {
+      "pick_up(right_bule_cap)": [
+        "move_to(right_bule_cap,trash_can)"
+      ],
+      "move_to(right_bule_cap,trash_can)": [
+        "place(right_bule_cap, trash_can)"
+      ],
+      "place(right_bule_cap, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150510.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_close_cap_tool_box_train_0923_152612",
+    "actions_list": [
+      "move_to(none, cap_tool_box_lid)",
+      "grasp(cap_tool_box_lid_handle)",
+      "move_to(cap_tool_box_lid, cap_tool_box)",
+      "place(cap_tool_box_lid, cap_tool_box)"
+    ],
+    "gt_dag": {
+      "move_to(none, cap_tool_box_lid)": [
+        "grasp(cap_tool_box_lid_handle)"
+      ],
+      "grasp(cap_tool_box_lid_handle)": [
+        "move_to(cap_tool_box_lid, cap_tool_box)"
+      ],
+      "move_to(cap_tool_box_lid, cap_tool_box)": [
+        "place(cap_tool_box_lid, cap_tool_box)"
+      ],
+      "place(cap_tool_box_lid, cap_tool_box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_franka_3rgb_close_cap_tool_box_train_0923_152612.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_slide_open_drawer_1_train_1018_104324",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer, open)"
+      ],
+      "pull(drawer, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_benchmark1_h5_franka_3rgb_slide_open_drawer_1_train_1018_104324.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16773",
+    "actions_list": [
+      "move_to(none,seasoning_bottle)",
+      "grasp(seasoning_bottle)",
+      "pick_up(seasoning_bottle)",
+      "turn(seasoning_bottle,up,upright)",
+      "place(seasoning_bottle,table)"
+    ],
+    "gt_dag": {
+      "move_to(none,seasoning_bottle)": [
+        "grasp(seasoning_bottle)"
+      ],
+      "grasp(seasoning_bottle)": [
+        "pick_up(seasoning_bottle)"
+      ],
+      "pick_up(seasoning_bottle)": [
+        "turn(seasoning_bottle,up,upright)"
+      ],
+      "turn(seasoning_bottle,up,upright)": [
+        "place(seasoning_bottle,table)"
+      ],
+      "place(seasoning_bottle,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rt_frames_success_rtx_frames_success_7_49_bridge#episode_16773.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_8071",
+    "actions_list": [
+      "move_to(none, stopper)",
+      "grasp(stopper)",
+      "pick_up(stopper)",
+      "move_to(stopper,drain)",
+      "place(stopper,drain)"
+    ],
+    "gt_dag": {
+      "move_to(none, stopper)": [
+        "grasp(stopper)"
+      ],
+      "grasp(stopper)": [
+        "pick_up(stopper)"
+      ],
+      "pick_up(stopper)": [
+        "move_to(stopper,drain)"
+      ],
+      "move_to(stopper,drain)": [
+        "place(stopper,drain)"
+      ],
+      "place(stopper,drain)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_rigid_images_rtx_frames__new_85_85_droid#episode_8071.png"
+  }
+]
\ No newline at end of file
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+[
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-98_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the white block in the box on the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, white_block),2-grasp(white_block),3-pick_up(white_block),4-move_to(white_block,left_box),5-place(white_block,left_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-98_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the white block in the box on the left> as the goal, steps so far are shown in the video, is step 1-move_to(none, white_block) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-36_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-45_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cup squarely on the green sheet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-grasp(cup_handle),2-pick_up(cup),3-move_to(cup,green_table),4-place(cup,green_table),5-grasp(cup_handle),6-turn(cup,clockwise,stand_upright_on_the_green_table),7-place(cup,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-45_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cup squarely on the green sheet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-move_to(cup, green_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-45_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cup squarely on the green sheet> as the goal, steps so far are shown in the video, is step 1-grasp(cup_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-49_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the basket on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, basket),2-grasp(basket),3-pick_up(basket),4-move_to(basket,green_cloth),5-place(basket,green_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-49_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the basket on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, basket) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-85_episode-4_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up and place a wooden_block behind_an_obstacle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, wooden_block),2-grasp(wooden_block),3-pick_up(wooden_block),4-move_to(wooden_block,behind_an_obstacle),5-place(wooden_block, behind_an_obstacle)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-85_episode-4_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up and place a wooden_block behind_an_obstacle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(wooden_block, behind_an_obstacle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-85_episode-4_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up and place a wooden_block behind_an_obstacle> as the goal, steps so far are shown in the video, is step 1-move_to(none, wooden_block) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-97_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a block into a shelf> as the goal, steps so far are shown in the video, is step 1-move_to(none, block) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-91_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing an block from a shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, block),2-grasp(block),3-pick_up(block),4-move_to(block,shelf),5-place(block,shelf)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-121_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cutting an orange into smaller pieces> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, knife),2-grasp(knife_handle),3-pick_up(knife),4-move_to(knife,orange),5-cut(knife, orange, cutboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-121_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cutting an orange into smaller pieces> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(knife)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-121_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cutting an orange into smaller pieces> as the goal, steps so far are shown in the video, is step 2-grasp(knife_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-89_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking the plate off the shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, plate),2-grasp(plate),3-pick_up(plate),4-move_to(plate,table),5-place(plate,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-52_task-89_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking the plate off the shelf> as the goal, steps so far are shown in the video, is step 1-move_to(none, plate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-12_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <push a ball into a goal> as the goal, steps so far are shown in the video, is step 1-move_to(none, ball) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-46_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a dish onto a dish_rack> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(dish)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-46_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a dish onto a dish_rack> as the goal, steps so far are shown in the video, is step 1-move_to(none, dish) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-100_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cover a pot with a pot_lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-100_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cover a pot with a pot_lid> as the goal, steps so far are shown in the video, is step 2-grasp(pot_lid_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-33_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring water> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, glass_rod),2-grasp(glass_rod),3-stir(glass_rod,water, glass)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-33_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring water> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-stir(glass_rod, water, glass)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-33_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring water> as the goal, steps so far are shown in the video, is step 2-grasp(glass_rod) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-94_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the knife on the cutting_board> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(knife_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-75_task-94_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the knife on the cutting_board> as the goal, steps so far are shown in the video, is step 1-move_to(none, knife) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_maniwav_series-1_task-2_episode-105_rgb_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a bagel in the plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(spatula),2-move_to(spatula,bagel),3-turn(bagel,anticlockwise,flip)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_maniwav_series-1_task-2_episode-105_rgb_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a bagel in the plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(bagel, anticlockwise, flip)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/ARIO_imgs_extract-frames_maniwav_series-1_task-2_episode-105_rgb_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <flip a bagel in the plate> as the goal, steps so far are shown in the video, is step 2-move_to(spatula, bagel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_4585_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mouse)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_4585_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_4638_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_5868_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_episode_1023_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(mouse, mouse_pad)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_episode_1023_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, is step 3-pick_up(mouse) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_episode_3491_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, is step 2-grasp(mouse) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_episode_3503_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(mouse, mouse_pad)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_episode_3503_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, is step 2-grasp(mouse) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_episode_3548_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mouse)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_arrange_mouse_episode_3548_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mouse on the mouse_pad> as the goal, steps so far are shown in the video, is step 3-pick_up(mouse) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_287_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the plug and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, plug),2-grasp(plug),3-pullout(plug,plug_plates),4-move_to(plug,table),5-place(plug,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_287_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the plug and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pullout(plug, plug_plates)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_287_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the plug and place it on the table> as the goal, steps so far are shown in the video, is step 2-grasp(plug) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_292_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the plug and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, plug),2-grasp(plug),3-pullout(plug,plug_plates),4-move_to(plug,table),5-place(plug,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_292_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the plug and place it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, plug) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1061_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the charger and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, charger),2-grasp(charger),3-pullout(charger, socket),4-move_to(charger,table),5-place(charger,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1061_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the charger and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(charger, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1061_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the charger and place it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, charger) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1285_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the plug and place it on the table> as the goal, steps so far are shown in the video, is step 3-pullout(plug, socket) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1601_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the charger and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, charger),2-grasp(charger),3-pullout(charger, socket),4-move_to(charger,table),5-place(charger,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1601_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the charger and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(charger, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1601_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the charger and place it on the table> as the goal, steps so far are shown in the video, is step 2-grasp(charger) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/DSL_shrinked_unplug_charger_episode_1655_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pulling_out the charger and place it on the table> as the goal, steps so far are shown in the video, is step 2-grasp(charger) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_566_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking the blue_cup on top of the brown_cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, blue_cup),2-grasp(blue_cup),3-pick_up(blue_cup),4-move_to(blue_cup,brown_cup),5-place(blue_cup,brown_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_566_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking the blue_cup on top of the brown_cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10112_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pot on the blue_cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(pot, blue_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10112_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pot on the blue_cloth> as the goal, steps so far are shown in the video, is step 3-pick_up(pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10871_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the yellow_brush on the left_stove_burner> as the goal, steps so far are shown in the video, is step 1-move_to(none, yellow_brush) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11385_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the banana on the left_edge_of_the_table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, banana),2-grasp(banana),3-pick_up(banana),4-move_to(banana,left_edge_of_the_table),5-place(banana,left_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11385_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the banana on the left_edge_of_the_table> as the goal, steps so far are shown in the video, is step 1-move_to(none, banana) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_13753_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the turkey_leg on the purple_cloth> as the goal, steps so far are shown in the video, is step 2-grasp(turkey_leg) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19102_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the tea_pan on the green_cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, tea_pan) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19178_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the yellow_brush on the top_of_the_table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(yellow_brush)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19178_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the yellow_brush on the top_of_the_table> as the goal, steps so far are shown in the video, is step 1-move_to(none, yellow_brush) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23125_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pushing the can to the left_side_of_the_table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, can),2-grasp(can),3-push(can, left_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23125_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pushing the can to the left_side_of_the_table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(can, left_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23125_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pushing the can to the left_side_of_the_table> as the goal, steps so far are shown in the video, is step 1-move_to(none, can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24944_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the cucumber in the lower_right_corner_of_the_stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cucumber),2-grasp(cucumber),3-pick_up(cucumber),4-move_to(cucumber, lower_right_corner_of_the_stove),5-place(cucumber, lower_right_corner_of_the_stove)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24944_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the cucumber in the lower_right_corner_of_the_stove> as the goal, steps so far are shown in the video, is step 1-move_to(none, cucumber) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_25344_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pot on the top_of_the_table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,pot),2-grasp(edge_of_the_pot),3-pick_up(pot),4-move_to(pot,top_of_the_table),5-place(pot,top_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_25344_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pot on the top_of_the_table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_25344_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pot on the top_of_the_table> as the goal, steps so far are shown in the video, is step 3-pick_up(pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_14277_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the toy_sushi on the left_side_of_the_table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, toy_sushi),2-grasp(toy_sushi),3-pick_up(toy_sushi),4-move_to(toy_sushi, left_side_of_the_table),5-place(toy_sushi,left_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_14277_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the toy_sushi on the left_side_of_the_table> as the goal, steps so far are shown in the video, is step 3-pick_up(toy_sushi) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_1665_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the cucumber on the right_side_of_the_table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,cucumber),2-grasp(cucumber),3-pick_up(cucumber),4-move_to(cucumber,right_side_of_the_table),5-place(cucumber,right_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_26313_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the broccoli next_to_the_carrots> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,broccoli),2-grasp(broccoli),3-pick_up(broccoli),4-move_to(broccoli,right_the_carrots),5-place(broccoli,right_the_carrots)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_26313_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the broccoli next_to_the_carrots> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(broccoli)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_26313_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the broccoli next_to_the_carrots> as the goal, steps so far are shown in the video, is step 1-move_to(none, broccoli) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48115_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a pot_lid from a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48115_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a pot_lid from a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52657_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straightening the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,pot_handle),2-grasp(pot_handle),3-pick_up(pot),4-turn(pot,up,mouth-of_the_pot_facing_upwards),5-place(pot,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52657_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straightening the pot> as the goal, steps so far are shown in the video, is step 2-grasp(pot_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_0_15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_90_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a grid_clamp onto a designated_location> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(grid_clamp),2-move_to(grid_clamp, target_location),3-place(grid_clamp, target_location)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_0_15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_90_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a grid_clamp onto a designated_location> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(grid_clamp, target_location)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_0_15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_90_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a grid_clamp onto a designated_location> as the goal, steps so far are shown in the video, is step 1-pick_up(grid_clamp) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_31_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the chess_piece and placing it on top_of_the_table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, chess_piece),2-grasp(chess_piece),3-pick_up(chess_piece),4-move_to(chess_piece,top_of_the_table),5-place(chess_piece,top_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_31_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the chess_piece and placing it on top_of_the_table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(chess_piece)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_31_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the chess_piece and placing it on top_of_the_table> as the goal, steps so far are shown in the video, is step 2-grasp(chess_piece) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2560_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a roll_of_tape and placing it on the sofa> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(roll_of_tape)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2560_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a roll_of_tape and placing it on the sofa> as the goal, steps so far are shown in the video, is step 3-pick_up(roll_of_tape) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2748_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the charger and place it on the sponge_pad> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, charger),2-grasp(charger),3-pick_up(charger),4-move_to(charger,sponge_pad),5-place(charger,sponge_pad)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_23_55_dobbe#episode_2748_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the charger and place it on the sponge_pad> as the goal, steps so far are shown in the video, is step 1-move_to(none, charger) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_404_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the building_block and place it on the left_side_of_the_table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, building_block),2-grasp(building_block),3-pick_up(building_block),4-move_to(building_block, left_side_of_the_table),5-place(building_block,left_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_404_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the building_block and place it on the left_side_of_the_table> as the goal, steps so far are shown in the video, is step 2-grasp(building_block) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3393_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the roll_of_tape and placing it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(roll_of_tape)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_3393_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the roll_of_tape and placing it on the table> as the goal, steps so far are shown in the video, is step 3-pick_up(roll_of_tape) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4255_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up an object and place it under a door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cosmetic_bottles),2-grasp(cosmetic_bottle),3-pick_up(cosmetic_bottle),4-move_to(cosmetic_bottle, cosmetic_bottle_holder),5-place(cosmetic_bottle, cosmetic_bottle_holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4255_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up an object and place it under a door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cosmetic_bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4255_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up an object and place it under a door> as the goal, steps so far are shown in the video, is step 3-pick_up(cosmetic_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4261_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the tape on the couch> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(roll_of_tape)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_24_55_dobbe#episode_4261_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the tape on the couch> as the goal, steps so far are shown in the video, is step 3-pick_up(roll_of_tape) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4949_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the sunscreen to the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, sunscreen),2-grasp(sunscreen),3-pick_up(sunscreen),4-move_to(sunscreen, left_original_position),5-place(sunscreen, bath_counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_25_55_dobbe#episode_4949_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the sunscreen to the left> as the goal, steps so far are shown in the video, is step 1-move_to(none, sunscreen) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_812_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the plastic_bucket and placing it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(plastic_bucket)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_26_55_dobbe#episode_812_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the plastic_bucket and placing it on the table> as the goal, steps so far are shown in the video, is step 3-pick_up(plastic_bucket) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_64_86_fanuc_manipulation_v2#episode_96_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the cup and placing it on the shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, shelf),5-place(cup, shelf)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_31_57_fmb#episode_5854_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the green square in the card slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none,green_block),2-grasp(green_block),3-pick_up(green_block),4-move_to(green_block, black_bracket),5-place(green_block, black_bracket),6-move_to(none, green_block),7-grasp(green_block_top),8-pick_up(green_block),9-turn(green_block, down,mouth_downward),10-move_to(green_block, card-slots),11-insert(green_block, card-slots)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_31_57_fmb#episode_5854_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the green square in the card slot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(green_block)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_31_57_fmb#episode_5854_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the green square in the card slot> as the goal, steps so far are shown in the video, is step 1-move_to(none, green_block) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_1192_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the marker and placing it in the cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, marker) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_8061_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the marker and placing it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, marker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_11811_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the jar on the right side of the table.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(jar)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_11811_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the jar on the right side of the table.> as the goal, steps so far are shown in the video, is step 2-grasp(jar) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_15282_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the cooking_stick on the shelf> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cooking_stick)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_15282_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the cooking_stick on the shelf> as the goal, steps so far are shown in the video, is step 3-pick_up(cooking_stick) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_18129_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the pen and place it at the bottom_right_corner_of_the_table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen,bottom_right_corner_of_the_table),5-place(pen,bottom_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_18129_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the pen and place it at the bottom_right_corner_of_the_table> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_19993_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotating the monitor in a clockwise direction slightly> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, monitor),2-grasp(monitor),3-turn(monitor, clockwise,none)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_19993_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotating the monitor in a clockwise direction slightly> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(monitor)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_19993_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rotating the monitor in a clockwise direction slightly> as the goal, steps so far are shown in the video, is step 2-grasp(monitor) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_22511_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the cup and placing it in the bowl> as the goal, steps so far are shown in the video, is step 2-grasp(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_23867_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the building_block on the wooden_board> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_building_block)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_23867_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the building_block on the wooden_board> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_building_block) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_33898_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging headphones on the monitor_stand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, headphones),2-grasp(headphones),3-pick_up(headphones),4-move_to(headphones,monitor_stand_top),5-place(headphones,monitor_stand)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_33898_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging headphones on the monitor_stand> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(headphones, monitor_stand_top)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_33898_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging headphones on the monitor_stand> as the goal, steps so far are shown in the video, is step 2-grasp(headphones) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_35828_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a bottle on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_35828_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a bottle on a table> as the goal, steps so far are shown in the video, is step 2-grasp(bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_37362_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering the pot_lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_37362_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering the pot_lid> as the goal, steps so far are shown in the video, is step 3-pick_up(pot_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_40453_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering the pot_lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pot_lid_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_40453_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering the pot_lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_46445_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pullout the storage_box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, storage_box),2-grasp(storage_box_handle),3-pull(storage_box, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_51564_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from one bowl to another and pressing a button on a scale> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_51564_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from one bowl to another and pressing a button on a scale> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_54246_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the screwdriver in the bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, screwdriver) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_64490_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the book onto the shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, book),2-grasp(book),3-pick_up(book),4-move_to(book,shelf),5-place(book,shelf)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_64490_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the book onto the shelf> as the goal, steps so far are shown in the video, is step 2-grasp(book) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_65657_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the corn_husks onto the plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, corn_husks) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_66182_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl on the edge of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl,edge_of_table),5-place(bowl,edge_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_66182_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl on the edge of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_70776_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving the bottle to the upper right corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle,upper_right_corner_of_the_table),5-place(bottle, upper_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_70776_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving the bottle to the upper right corner of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_70776_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving the bottle to the upper right corner of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_71329_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker in a mug, removing it, and returning it to the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, marker),2-grasp(marker),3-pick_up(marker),4-move_to(marker, mug),5-place(marker, mug),6-move_to(none,marker),7-grasp(marker),8-pick_up(marker),9-move_to(marker,table),10-place(marker,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_71329_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker in a mug, removing it, and returning it to the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(marker)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_71329_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker in a mug, removing it, and returning it to the table> as the goal, steps so far are shown in the video, is step 3-pick_up(marker) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_77644_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the spoon into the mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon,mug),5-place(spoon,mug)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_77644_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the spoon into the mug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_77644_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the spoon into the mug> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_90987_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pen above_the_table and in the cup respectively, then unfolding the towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none, pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen,above_the_table),5-place(pen,above_the_table),6-move_to(none, pen),7-grasp(pen),8-pick_up(pen),9-move_to(pen,cup),10-place(pen,cup),11-move_to(none, towel),12-grasp(towel),13-unfold(right_side_of_towel, left_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_90987_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pen above_the_table and in the cup respectively, then unfolding the towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pen)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_90987_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pen above_the_table and in the cup respectively, then unfolding the towel> as the goal, steps so far are shown in the video, is step 3-pick_up(pen) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_tienkung_xsens_1rgb_nut_place_train_2024-10-08-11-31-15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a  toy_tire and place it in a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, right_toy_tire),2-grasp(right_toy_tire),3-pick_up(right_toy_tire),4-move_to(toy_tire, box),5-place(toy_tire, box),6-move_to(none, left_toy_tire),7-grasp(left_toy_tire),8-pick_up(left_toy_tire),9-move_to(toy_tire, box),10-place(toy_tire, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_tienkung_xsens_1rgb_nut_place_train_2024-10-08-11-31-15_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a  toy_tire and place it in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(toy_tire, box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_tienkung_xsens_1rgb_nut_place_train_2024-10-08-11-31-15_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a  toy_tire and place it in a box> as the goal, steps so far are shown in the video, is step 3-pick_up(right_toy_tire) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_tienkung_gello_1rgb_lift_pot_lid_and_place_it_to_the_right_of_the_pot_train_1212_181552_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a pot_lid from  a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pot_lid),2-grasp(pot_lid_handle),3-pick_up(pot_lid),4-move_to(pot_lid, table),5-place(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_tienkung_gello_1rgb_lift_pot_lid_and_place_it_to_the_right_of_the_pot_train_1212_181552_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a pot_lid from  a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_tienkung_gello_1rgb_lift_pot_lid_and_place_it_to_the_right_of_the_pot_train_1212_181552_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a pot_lid from  a pot> as the goal, steps so far are shown in the video, is step 3-pick_up(pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_165216_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(pot_lid),2-move_to(pot_lid,table),3-place(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_165216_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_165216_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, steps so far are shown in the video, is step 1-pick_up(pot_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_142447_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, pot_lid),2-grasp(pot_lid_handle),3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_142447_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_153139_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <dropping a plastic_bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(plastic_bottle),2-move_to(plastic_bottle, trash_can),3-place(plastic_bottle, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_153139_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <dropping a plastic_bottle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(plastic_bottle, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_153139_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <dropping a plastic_bottle> as the goal, steps so far are shown in the video, is step 1-pick_up(plastic_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112243_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a paper ball into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(paper_ball),2-move_to(paper_ball, trash_can),3-place(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112243_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a paper ball into a trash can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112243_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a paper ball into a trash can> as the goal, steps so far are shown in the video, is step 1-pick_up(paper_ball) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_cover_pot_lid_train_1017_141249_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a pot_lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(pot_lid),2-move_to(pot_lid,pot),3-place(pot_lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_cover_pot_lid_train_1017_141249_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a pot_lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(pot_lid, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_cover_pot_lid_train_1017_141249_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a pot_lid> as the goal, steps so far are shown in the video, is step 1-pick_up(pot_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_140313_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, pot_lid),2-grasp(pot_lid_handle),3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_140313_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pot_lid_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1016_140313_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_132930_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(pot_lid_handle),2-pick_up(pot_lid),3-move_to(pot_lid,table),4-place(pot_lid,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_132930_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_132930_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid and place it on the table> as the goal, steps so far are shown in the video, is step 1-grasp(pot_lid_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_140858_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(pot_lid_handle),2-pick_up(pot_lid),3-move_to(pot_lid,table),4-place(pot_lid,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_140858_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-move_to(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_140858_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid and place it on the table> as the goal, steps so far are shown in the video, is step 2-pick_up(pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_164141_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_164141_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_164141_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1017_113400_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, pot_lid),2-grasp(pot_lid_handle),3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_pot_lid_train_1017_113400_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a pot_lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_112910_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_112910_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_cover_pot_lid_train_1016_143634_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(pot_lid),2-move_to(pot_lid, pot),3-place(pot_lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_cover_pot_lid_train_1016_143634_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(pot_lid, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_cover_pot_lid_train_1016_143634_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, is step 1-pick_up(pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_red_pepper_on_table_train_1014_142707_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a red_pepper in the basket and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(red_pepper, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_red_pepper_on_table_train_1014_142707_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a red_pepper in the basket and place it on the table> as the goal, steps so far are shown in the video, is step 2-grasp(red_pepper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_142534_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a long_bread in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(long_bread),2-move_to(long_bread,drawer),3-place(long_bread, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_142534_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a long_bread in a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(long_bread, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_142534_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a long_bread in a drawer> as the goal, steps so far are shown in the video, is step 1-pick_up(long_bread) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_144333_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(pot_lid),2-move_to(pot_lid,table),3-place(pot_lid,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_144333_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_144333_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on the table> as the goal, steps so far are shown in the video, is step 1-pick_up(pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_180445_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a yellow pepper> as the goal, steps so far are shown in the video, is step 1-move_to(none, yellow_pepper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1018_155501_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1018_155501_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_165035_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick_up a pot_lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pot_lid_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_165035_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick_up a pot_lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1021_170134_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_val_1021_171508_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pear in the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(pear, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_val_1021_171508_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the pear in the drawer> as the goal, steps so far are shown in the video, is step 1-pick_up(pear) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_173027_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a piece of bread and placing it in a basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bread)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_173027_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a piece of bread and placing it in a basket> as the goal, steps so far are shown in the video, is step 1-move_to(none, bread) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163317_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the toast in the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-pick_up(toast),2-place(toast, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163317_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the toast in the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-place(toast, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163317_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the toast in the drawer> as the goal, steps so far are shown in the video, is step 1-pick_up(toast) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_104200_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a piece of bread> as the goal, steps so far are shown in the video, is step 1-move_to(none, bread) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_155125_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a plastic_bottle into a trash_can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(plastic_bottle),2-move_to(plastic_bottle,trash_can),3-place(plastic_bottle, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_155125_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a plastic_bottle into a trash_can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(plastic_bottle, trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_155125_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a plastic_bottle into a trash_can> as the goal, steps so far are shown in the video, is step 1-pick_up(plastic_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_144355_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_144355_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_144355_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_yellow_pepper_in_pot_val_1016_142534_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a yellow_pepper  and placing it in a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(yellow_pepper, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_yellow_pepper_in_pot_val_1016_142534_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a yellow_pepper  and placing it in a pot> as the goal, steps so far are shown in the video, is step 1-pick_up(yellow_pepper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_153903_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(pot_lid),2-move_to(pot_lid, right_yellow_pepper_on_table),3-place(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_153903_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(pot_lid, right_yellow_pepper_on_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_153903_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, steps so far are shown in the video, is step 1-pick_up(pot_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_donut_in_top_white_drawer_val_1021_105908_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a donut into a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(donut, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_donut_in_top_white_drawer_val_1021_105908_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a donut into a drawer> as the goal, steps so far are shown in the video, is step 1-pick_up(donut) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_val_1021_182019_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the plum  into the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(plum, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_val_1021_182019_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the plum  into the drawer> as the goal, steps so far are shown in the video, is step 1-pick_up(plum) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1018_180619_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_close_top_white_drawer_train_1018_180619_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_101133_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mangosteen into the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(mangosteen),2-move_to(mangosteen,drawer),3-place(mangosteen,drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_101133_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mangosteen into the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(mangosteen, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_101133_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the mangosteen into the drawer> as the goal, steps so far are shown in the video, is step 1-pick_up(mangosteen) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1014_162633_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red pepper into a basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(red_pepper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1014_162633_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red pepper into a basket> as the goal, steps so far are shown in the video, is step 2-grasp(red_pepper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_160036_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(pot_lid),2-move_to(pot_lid, table),3-place(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_160036_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-place(pot_lid, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_160036_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot_lid on a table> as the goal, steps so far are shown in the video, is step 1-pick_up(pot_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_triangle_bread_in_top_white_drawer_val_1018_153216_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a piece of bread into a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(bread, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_triangle_bread_in_top_white_drawer_val_1018_153216_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a piece of bread into a drawer> as the goal, steps so far are shown in the video, is step 1-pick_up(bread) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_161047_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_161047_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_train_1018_161047_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening the drawer> as the goal, steps so far are shown in the video, is step 2-grasp(drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1023_110405_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a piece of bread> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bread)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1023_110405_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a piece of bread> as the goal, steps so far are shown in the video, is step 2-grasp(bread) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_154459_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a plastic_bottle into a trash_can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(plastic_bottle),2-move_to(plastic_bottle,trash_can),3-place(plastic_bottle, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_154459_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a plastic_bottle into a trash_can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(plastic_bottle, trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_154459_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a plastic_bottle into a trash_can> as the goal, steps so far are shown in the video, is step 1-pick_up(plastic_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1018_141714_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a green_pepper> as the goal, steps so far are shown in the video, is step 1-move_to(none, green_pepper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_112013_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a piece of bread into basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bread)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_112013_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a piece of bread into basket> as the goal, steps so far are shown in the video, is step 2-grasp(bread) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_104536_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing an egg in a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(egg),2-move_to(egg, pot),3-place(egg, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_104536_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing an egg in a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(egg, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_104536_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing an egg in a pot> as the goal, steps so far are shown in the video, is step 1-pick_up(egg) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_143606_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a red can into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(red_can),2-move_to(red_can,trash_can),3-place(red_can, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_143606_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a red can into a trash can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(red_can, trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_143606_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a red can into a trash can> as the goal, steps so far are shown in the video, is step 1-pick_up(red_can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_135626_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a pot_lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_135626_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a pot_lid> as the goal, steps so far are shown in the video, is step 2-grasp(pot_lid_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_143729_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a peace of bread into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(bread),2-move_to(bread, drawer),3-place(bread, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_143729_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a peace of bread into a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(bread, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_143729_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a peace of bread into a drawer> as the goal, steps so far are shown in the video, is step 1-pick_up(bread) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_can_val_1022_142109_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(red_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_pick_up_can_val_1022_142109_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a can> as the goal, steps so far are shown in the video, is step 1-move_to(none, red_can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112106_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a paper_ball into a trash_can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(paper_ball),2-move_to(paper_ball,trash_can),3-place(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112106_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a paper_ball into a trash_can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112106_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a paper_ball into a trash_can> as the goal, steps so far are shown in the video, is step 1-pick_up(paper_ball) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_111827_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing an egg into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-place(egg, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_111827_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing an egg into a pot> as the goal, steps so far are shown in the video, is step 2-move_to(egg, pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150510_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a right bule cap into a trash_can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(right_bule_cap),2-move_to(right_bule_cap,trash_can),3-place(right_bule_cap, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150510_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a right bule cap into a trash_can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(right_bule_cap, trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150510_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a right bule cap into a trash_can> as the goal, steps so far are shown in the video, is step 1-pick_up(right_bule_cap) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_pick_up_strawberry_in_bowl_train_1017_105733_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a strawberry and placing it in a bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, strawberry) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_pick_up_strawberry_in_bowl_1017_180517_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a strawberry and placing it in a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(strawberry)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_pick_up_strawberry_in_bowl_1017_180517_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a strawberry and placing it in a bowl> as the goal, steps so far are shown in the video, is step 2-grasp(strawberry) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_close_cap_tool_box_train_0923_152612_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cap_tool_box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, cap_tool_box_lid),2-grasp(cap_tool_box_lid_handle),3-move_to(cap_tool_box_lid, cap_tool_box),4-place(cap_tool_box_lid, cap_tool_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_close_cap_tool_box_train_0923_152612_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cap_tool_box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cap_tool_box_lid_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_close_cap_tool_box_train_0923_152612_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cap_tool_box> as the goal, steps so far are shown in the video, is step 1-move_to(none, cap_tool_box_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_152828_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a block and placing it in a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(blue_block)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_152828_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a block and placing it in a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_block) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_slide_open_drawer_1_train_1018_104324_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening  the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_slide_open_drawer_1_train_1018_104324_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening  the drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_piled_on_stack_blue_block_on_pink_block_1016_180910_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking two blocks> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(blue_block)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_piled_on_stack_blue_block_on_pink_block_1016_180910_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking two blocks> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_block) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark1_h5_franka_3rgb_place_in_bread_on_plate_2_train_1016_152222_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a bread and placing it in a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, bread) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark2_h5_tienkung_gello_1rgb_left_had_put_red_apple_in_plate_train_1219_101647_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up an apple and placing it in a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(apple)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark2_h5_tienkung_gello_1rgb_left_had_put_red_apple_in_plate_train_1219_101647_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up an apple and placing it in a plate> as the goal, steps so far are shown in the video, is step 3-pick_up(apple) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark2_h5_tienkung_gello_1rgb_left_hand_put_the_brown_hippopotamus_in_the_blue_box_train_1220_143826_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a toy_hippopotamus and placing it in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(toy_hippopotamus)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark2_h5_tienkung_gello_1rgb_left_hand_put_the_brown_hippopotamus_in_the_blue_box_train_1220_143826_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a toy_hippopotamus and placing it in a box> as the goal, steps so far are shown in the video, is step 1-move_to(none, toy_hippopotamus) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark2_h5_tienkung_gello_1rgb_left_hand_put_the_white_doll_in_the_blue_box_train_1220_111416_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a white_doll and placing it in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(white_doll, box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark2_h5_tienkung_gello_1rgb_left_hand_put_the_white_doll_in_the_blue_box_train_1220_111416_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up a white_doll and placing it in a box> as the goal, steps so far are shown in the video, is step 3-pick_up(white_doll) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark2_h5_tienkung_gello_1rgb_left_had_put_red_apple_in_plate_train_1219_133951_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up an apple and placing it in a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(apple, plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/benchmark2_h5_tienkung_gello_1rgb_left_had_put_red_apple_in_plate_train_1219_133951_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up an apple and placing it in a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, apple) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16773_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straightening the seasoning_bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,seasoning_bottle),2-grasp(seasoning_bottle),3-pick_up(seasoning_bottle),4-turn(seasoning_bottle,up,upright),5-place(seasoning_bottle,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16773_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straightening the seasoning_bottle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-turn(seasoning_bottle, up, upright)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16773_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <straightening the seasoning_bottle> as the goal, steps so far are shown in the video, is step 2-grasp(seasoning_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_8071_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the stopper and covering the drain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, stopper),2-grasp(stopper),3-pick_up(stopper),4-move_to(stopper,drain),5-place(stopper,drain)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_8071_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the stopper and covering the drain> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(stopper, drain)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/rigid/images/rtx_frames__new_85_85_droid#episode_8071_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "rigid"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking_up the stopper and covering the drain> as the goal, steps so far are shown in the video, is step 1-move_to(none, stopper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  }
+]
\ No newline at end of file
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diff --git a/3_generalized_planning/cross_object/material_affordance/special/dag.json b/3_generalized_planning/cross_object/material_affordance/special/dag.json
new file mode 100644
index 0000000000000000000000000000000000000000..c86b007d5dccf5814dd967ddf7cb0af38d731729
--- /dev/null
+++ b/3_generalized_planning/cross_object/material_affordance/special/dag.json
@@ -0,0 +1,4250 @@
+[
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-3_rgbd-1",
+    "actions_list": [
+      "move_to(none, glass)",
+      "stir(glass_rod, liquid)",
+      "place(glass_rod, Initial_Position)",
+      "move_to(none, Initial_Position)"
+    ],
+    "gt_dag": {
+      "move_to(none, glass)": [
+        "stir(glass_rod, liquid)"
+      ],
+      "stir(glass_rod, liquid)": [
+        "place(glass_rod, Initial_Position)"
+      ],
+      "place(glass_rod, Initial_Position)": [
+        "move_to(none, Initial_Position)"
+      ],
+      "move_to(none, Initial_Position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-3_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-80_episode-3_rgbd-1",
+    "actions_list": [
+      "move_to(none, ladle)",
+      "grasp(ladle_handle)",
+      "pick_up(ladle)",
+      "scoop(ladle,water, bowl_with_water)",
+      "move_to (ladle, pot)",
+      "pour(ladle, water,pot)",
+      "place(ladle, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, ladle)": [
+        "grasp(ladle_handle)"
+      ],
+      "grasp(ladle_handle)": [
+        "pick_up(ladle)"
+      ],
+      "pick_up(ladle)": [
+        "scoop(ladle,water, bowl_with_water)"
+      ],
+      "scoop(ladle,water, bowl_with_water)": [
+        "move_to (ladle, pot)"
+      ],
+      "move_to (ladle, pot)": [
+        "pour(ladle, water,pot)"
+      ],
+      "pour(ladle, water,pot)": [
+        "place(ladle, pot)"
+      ],
+      "place(ladle, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-80_episode-3_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-92_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, glass_rod)",
+      "grasp(glass_rod)",
+      "pick_up(glass_rod)",
+      "stir(glass_rod, liquid,cup)",
+      "place(glass_rod, cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, glass_rod)": [
+        "grasp(glass_rod)"
+      ],
+      "grasp(glass_rod)": [
+        "pick_up(glass_rod)"
+      ],
+      "pick_up(glass_rod)": [
+        "stir(glass_rod, liquid,cup)"
+      ],
+      "stir(glass_rod, liquid,cup)": [
+        "place(glass_rod, cup)"
+      ],
+      "place(glass_rod, cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-92_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-37_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, cup_with_water)",
+      "grasp(cup_with_water)",
+      "pick_up(cup_with_water)",
+      "move_to(cup_with_water, empty_cup)",
+      "pour(cup_with_water, water,empty_cup)",
+      "move_to(cup,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup_with_water)": [
+        "grasp(cup_with_water)"
+      ],
+      "grasp(cup_with_water)": [
+        "pick_up(cup_with_water)"
+      ],
+      "pick_up(cup_with_water)": [
+        "move_to(cup_with_water, empty_cup)"
+      ],
+      "move_to(cup_with_water, empty_cup)": [
+        "pour(cup_with_water, water,empty_cup)"
+      ],
+      "pour(cup_with_water, water,empty_cup)": [
+        "move_to(cup,table)"
+      ],
+      "move_to(cup,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-37_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-53_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none,dropper)",
+      "grasp(dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper, bottle)",
+      "place(dropper, bottle)",
+      "press(dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper, beaker)",
+      "place(dropper, beaker)"
+    ],
+    "gt_dag": {
+      "move_to(none,dropper)": [
+        "grasp(dropper)"
+      ],
+      "grasp(dropper)": [
+        "pick_up(dropper)"
+      ],
+      "move_to(dropper, bottle)": [
+        "place(dropper, bottle)"
+      ],
+      "place(dropper, bottle)": [
+        "press(dropper)"
+      ],
+      "press(dropper)": [
+        "pick_up(dropper)<1>"
+      ],
+      "pick_up(dropper)": [
+        "move_to(dropper, bottle)"
+      ],
+      "pick_up(dropper)<1>": [
+        " move_to(dropper, beaker)"
+      ],
+      " move_to(dropper, beaker)": [
+        "place(dropper, beaker)"
+      ],
+      "place(dropper, beaker)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-53_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-37_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, cup_with_water)",
+      "grasp(cup_with_water)",
+      "pick_up(cup_with_water)",
+      "move_to(cup_with_water, empty_cup)",
+      "pour(cup_with_water,water, empty_cup)",
+      "move_to(big_cup, electronic_scale)",
+      "place(big_cup,electronic_scale)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup_with_water)": [
+        "grasp(cup_with_water)"
+      ],
+      "grasp(cup_with_water)": [
+        "pick_up(cup_with_water)"
+      ],
+      "pick_up(cup_with_water)": [
+        "move_to(cup_with_water, empty_cup)"
+      ],
+      "move_to(cup_with_water, empty_cup)": [
+        "pour(cup_with_water,water, empty_cup)"
+      ],
+      "pour(cup_with_water,water, empty_cup)": [
+        "move_to(big_cup, electronic_scale)"
+      ],
+      "move_to(big_cup, electronic_scale)": [
+        "place(big_cup,electronic_scale)"
+      ],
+      "place(big_cup,electronic_scale)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-37_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-53_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(dropper)",
+      "grasp(dropper, bottle)",
+      "pick_up(dropper, bottle)",
+      "move_to(dropper, bottle)",
+      "scoop(dropper, liquid,glass)",
+      "pour(liquid_in_dropper, glass)",
+      "move_to(dropper, glass)",
+      "place(dropper, table)"
+    ],
+    "gt_dag": {
+      "move_to(dropper)": [
+        "grasp(dropper, bottle)"
+      ],
+      "grasp(dropper, bottle)": [
+        "pick_up(dropper, bottle)"
+      ],
+      "pick_up(dropper, bottle)": [
+        "move_to(dropper, bottle)"
+      ],
+      "move_to(dropper, bottle)": [
+        "scoop(dropper, liquid,glass)"
+      ],
+      "scoop(dropper, liquid,glass)": [
+        "pour(liquid_in_dropper, glass)"
+      ],
+      "pour(liquid_in_dropper, glass)": [
+        "move_to(dropper, glass)"
+      ],
+      "move_to(dropper, glass)": [
+        "place(dropper, table)"
+      ],
+      "place(dropper, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-53_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-92_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none,glass_rod )",
+      "grasp(glass_rod)",
+      "stir(glass_rod,liquid,glass)",
+      "move_to(glass_rod, glass)",
+      "place(glass_rod, gless)"
+    ],
+    "gt_dag": {
+      "move_to(none,glass_rod )": [
+        "grasp(glass_rod)"
+      ],
+      "grasp(glass_rod)": [
+        "stir(glass_rod,liquid,glass)"
+      ],
+      "stir(glass_rod,liquid,glass)": [
+        "move_to(glass_rod, glass)"
+      ],
+      "move_to(glass_rod, glass)": [
+        "place(glass_rod, gless)"
+      ],
+      "place(glass_rod, gless)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-92_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-29_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none,test_tube)",
+      "grasp(test_tube)",
+      "pick_up(test_tube)",
+      "move_to(test_tube, glass)",
+      "pour(test_tube,liquid,beaker)",
+      "move_to(test_tube,test_tube_rack)",
+      "place(test_tube,test_tube_rack)"
+    ],
+    "gt_dag": {
+      "move_to(none,test_tube)": [
+        "grasp(test_tube)"
+      ],
+      "grasp(test_tube)": [
+        "pick_up(test_tube)"
+      ],
+      "pick_up(test_tube)": [
+        "move_to(test_tube, glass)"
+      ],
+      "move_to(test_tube, glass)": [
+        "pour(test_tube,liquid,beaker)"
+      ],
+      "pour(test_tube,liquid,beaker)": [
+        "move_to(test_tube,test_tube_rack)"
+      ],
+      "move_to(test_tube,test_tube_rack)": [
+        "place(test_tube,test_tube_rack)"
+      ],
+      "place(test_tube,test_tube_rack)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-29_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-80_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(spoon)",
+      "grasp(spoon_handle)",
+      "scoop(spoon, water,white_bowl)",
+      "pick_up(spoon)",
+      "move_to(spoon, red_bowl)",
+      "pour(spoon,water, red_bowl)",
+      "place(spoon,red_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "scoop(spoon, water,white_bowl)"
+      ],
+      "scoop(spoon, water,white_bowl)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, red_bowl)"
+      ],
+      "move_to(spoon, red_bowl)": [
+        "pour(spoon,water, red_bowl)"
+      ],
+      "pour(spoon,water, red_bowl)": [
+        "place(spoon,red_bowl)"
+      ],
+      "place(spoon,red_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-80_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-50_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none,dropper)",
+      "grasp(dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper,wide_mouthed_bottle)",
+      "place(dropper,wide_mouthed_bottle)",
+      "press(dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper,beaker)",
+      "place(dropper,beaker))",
+      "press(dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper,dropper_beaker)",
+      "place(dropper,dropper_beaker)"
+    ],
+    "gt_dag": {
+      "move_to(none,dropper)": [
+        "grasp(dropper)"
+      ],
+      "grasp(dropper)": [
+        "pick_up(dropper)"
+      ],
+      "move_to(dropper,wide_mouthed_bottle)": [
+        "place(dropper,wide_mouthed_bottle)"
+      ],
+      "place(dropper,wide_mouthed_bottle)": [
+        "press(dropper)"
+      ],
+      "move_to(dropper,beaker)": [
+        "place(dropper,beaker))"
+      ],
+      "place(dropper,beaker))": [
+        "press(dropper)<1>"
+      ],
+      "press(dropper)": [
+        "pick_up(dropper)<1>"
+      ],
+      "pick_up(dropper)": [
+        "move_to(dropper,wide_mouthed_bottle)"
+      ],
+      "move_to(dropper,dropper_beaker)": [
+        "place(dropper,dropper_beaker)"
+      ],
+      "place(dropper,dropper_beaker)": [],
+      "pick_up(dropper)<1>": [
+        "move_to(dropper,beaker)"
+      ],
+      "press(dropper)<1>": [
+        "pick_up(dropper)<2>"
+      ],
+      "pick_up(dropper)<2>": [
+        "move_to(dropper,dropper_beaker)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-50_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-77_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon, bowl_with_water)",
+      "scoop(spoon, water,bowl_with_water)",
+      "pick_up(spoon)",
+      "move_to(spoon, empty_bowl)",
+      "pour(spoon, water,empty_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "move_to(spoon, bowl_with_water)": [
+        "scoop(spoon, water,bowl_with_water)"
+      ],
+      "scoop(spoon, water,bowl_with_water)": [
+        "pick_up(spoon)<1>"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, bowl_with_water)"
+      ],
+      "move_to(spoon, empty_bowl)": [
+        "pour(spoon, water,empty_bowl)"
+      ],
+      "pour(spoon, water,empty_bowl)": [],
+      "pick_up(spoon)<1>": [
+        "move_to(spoon, empty_bowl)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-77_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-24_task-50_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(dropper)",
+      "grasp(dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper, bottle)",
+      "place(dropper, bottle)",
+      "move_to(dropper,beaker )",
+      "place(dropper,beaker )",
+      "move_to(none,Initial_Position)"
+    ],
+    "gt_dag": {
+      "move_to(dropper)": [
+        "grasp(dropper)"
+      ],
+      "grasp(dropper)": [
+        "pick_up(dropper)"
+      ],
+      "pick_up(dropper)": [
+        "move_to(dropper, bottle)"
+      ],
+      "move_to(dropper, bottle)": [
+        "place(dropper, bottle)"
+      ],
+      "place(dropper, bottle)": [
+        "move_to(dropper,beaker )"
+      ],
+      "move_to(dropper,beaker )": [
+        "place(dropper,beaker )"
+      ],
+      "place(dropper,beaker )": [
+        "move_to(none,Initial_Position)"
+      ],
+      "move_to(none,Initial_Position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-24_task-50_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-35_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, large_cup)",
+      "grasp(large_cup_edge)",
+      "pick_up(large_cup)",
+      "move_to(large_cup, small_cup)",
+      "pour(large_cup,water, small_cup)",
+      "move_to(lager_cup, original_position)",
+      "place(lager_cup, original_position)"
+    ],
+    "gt_dag": {
+      "move_to(none, large_cup)": [
+        "grasp(large_cup_edge)"
+      ],
+      "grasp(large_cup_edge)": [
+        "pick_up(large_cup)"
+      ],
+      "pick_up(large_cup)": [
+        "move_to(large_cup, small_cup)"
+      ],
+      "move_to(large_cup, small_cup)": [
+        "pour(large_cup,water, small_cup)"
+      ],
+      "pour(large_cup,water, small_cup)": [
+        "move_to(lager_cup, original_position)"
+      ],
+      "move_to(lager_cup, original_position)": [
+        "place(lager_cup, original_position)"
+      ],
+      "place(lager_cup, original_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-35_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-84_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none,glass_rod)",
+      "grasp(glass_rod)",
+      "pick_up(glass_rod)",
+      "stir(glass_rod,water,glass)",
+      "place(glass_rod,glass)"
+    ],
+    "gt_dag": {
+      "move_to(none,glass_rod)": [
+        "grasp(glass_rod)"
+      ],
+      "grasp(glass_rod)": [
+        "pick_up(glass_rod)"
+      ],
+      "pick_up(glass_rod)": [
+        "stir(glass_rod,water,glass)"
+      ],
+      "stir(glass_rod,water,glass)": [
+        "place(glass_rod,glass)"
+      ],
+      "place(glass_rod,glass)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-84_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon, white_bowl)",
+      "place(spoon,white_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, white_bowl)"
+      ],
+      "move_to(spoon, white_bowl)": [
+        "place(spoon,white_bowl)"
+      ],
+      "place(spoon,white_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-85_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(glass_rod)",
+      "grasp(glass_rod)",
+      "stir(gless_rod, water,beaker)",
+      "place(gless_rod,beaker )"
+    ],
+    "gt_dag": {
+      "move_to(glass_rod)": [
+        "grasp(glass_rod)"
+      ],
+      "grasp(glass_rod)": [
+        "stir(gless_rod, water,beaker)"
+      ],
+      "stir(gless_rod, water,beaker)": [
+        "place(gless_rod,beaker )"
+      ],
+      "place(gless_rod,beaker )": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-85_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-66_task-72_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "scoop(spoon, liquid,iron_bowl)",
+      "pick_up(spoon)",
+      "move_to(spoon,red_bowl)",
+      "pour(spoon,liquid,red_bowl)",
+      "move_to(spoon, bowl_with_liquid)",
+      "move_to(spoon, iron_bowl)",
+      "place(spoon, iron_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "scoop(spoon, liquid,iron_bowl)"
+      ],
+      "scoop(spoon, liquid,iron_bowl)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon,red_bowl)"
+      ],
+      "move_to(spoon,red_bowl)": [
+        "pour(spoon,liquid,red_bowl)"
+      ],
+      "pour(spoon,liquid,red_bowl)": [
+        "move_to(spoon, iron_bowl)"
+      ],
+      "move_to(spoon, bowl_with_liquid)": [],
+      "move_to(spoon, iron_bowl)": [
+        "place(spoon, iron_bowl)"
+      ],
+      "place(spoon, iron_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-66_task-72_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-69_task-83_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to (spoon)",
+      "grasp(spoon_handle)",
+      "stir(spoon,liquid,beaker)",
+      "place(spoon,beaker)"
+    ],
+    "gt_dag": {
+      "move_to (spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "stir(spoon,liquid,beaker)"
+      ],
+      "stir(spoon,liquid,beaker)": [
+        "place(spoon,beaker)"
+      ],
+      "place(spoon,beaker)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-69_task-83_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-36_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, left_cup)",
+      "grasp(left_cup_edge)",
+      "pick_up(left_cup)",
+      "move_to(left_cup, right_cup)",
+      "pour(left_cup,liquid,rigt_cup)",
+      "move_to(left_cup, table)",
+      "place(left_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_cup)": [
+        "grasp(left_cup_edge)"
+      ],
+      "grasp(left_cup_edge)": [
+        "pick_up(left_cup)"
+      ],
+      "pick_up(left_cup)": [
+        "move_to(left_cup, right_cup)"
+      ],
+      "move_to(left_cup, right_cup)": [
+        "pour(left_cup,liquid,rigt_cup)"
+      ],
+      "pour(left_cup,liquid,rigt_cup)": [
+        "move_to(left_cup, table)"
+      ],
+      "move_to(left_cup, table)": [
+        "place(left_cup, table)"
+      ],
+      "place(left_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-36_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-73_task-50_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, dropper)",
+      "grassp(none, dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper,left_beaker)",
+      "place(dropper,left_beaker)",
+      "press(dropper)",
+      "pick_up(dropper_with_liquid)",
+      "move_to(dropper,right_beaker)",
+      "place(dropper,right_beaker)",
+      "press(dropper)"
+    ],
+    "gt_dag": {
+      "move_to(none, dropper)": [
+        "grassp(none, dropper)"
+      ],
+      "grassp(none, dropper)": [
+        "pick_up(dropper)"
+      ],
+      "pick_up(dropper)": [
+        "move_to(dropper,left_beaker)"
+      ],
+      "move_to(dropper,left_beaker)": [
+        "place(dropper,left_beaker)"
+      ],
+      "place(dropper,left_beaker)": [
+        "press(dropper)"
+      ],
+      "press(dropper)": [
+        "pick_up(dropper_with_liquid) "
+      ],
+      "press(dropper)<1>": [],
+      "place(dropper,right_beaker)": [
+        "press(dropper)<1>"
+      ],
+      "pick_up(dropper_with_liquid) ": [
+        "move_to(dropper,right_beaker) "
+      ],
+      "move_to(dropper,right_beaker) ": [
+        "place(dropper,right_beaker)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-73_task-50_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-74_task-50_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, dropper)",
+      "grassp(none, dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper,left_beaker)",
+      "place(dropper,left_beaker)",
+      "press(dropper)",
+      "pick_up(dropper_with_liquid)",
+      "move_to(dropper,right_beaker)",
+      "place(dropper,right_beaker)",
+      "press(dropper)"
+    ],
+    "gt_dag": {
+      "move_to(none, dropper)": [
+        "grassp(none, dropper)"
+      ],
+      "grassp(none, dropper)": [
+        "pick_up(dropper)"
+      ],
+      "pick_up(dropper)": [
+        "move_to(dropper,left_beaker)"
+      ],
+      "move_to(dropper,left_beaker)": [
+        "place(dropper,left_beaker)"
+      ],
+      "place(dropper,left_beaker)": [
+        "press(dropper)"
+      ],
+      "press(dropper)": [
+        "pick_up(dropper_with_liquid)"
+      ],
+      "press(dropper)<1>": [],
+      "place(dropper,right_beaker)": [
+        "press(dropper)<1>"
+      ],
+      "pick_up(dropper_with_liquid)": [
+        "move_to(dropper,right_beaker)"
+      ],
+      "move_to(dropper,right_beaker)": [
+        "place(dropper,right_beaker)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-74_task-50_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-78_task-87_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon_handle)",
+      "stir(spoon,liquid,beaker)",
+      "place(spoon, beaker)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "stir(spoon,liquid,beaker)"
+      ],
+      "stir(spoon,liquid,beaker)": [
+        "place(spoon, beaker)"
+      ],
+      "place(spoon, beaker)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-78_task-87_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-83_task-78_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon, left_bowl)",
+      "scoop(spoon,water,left_water)",
+      "move_to(spoon,bowl)",
+      "pour(spoon,water,right_bowl)",
+      "place(spoon,right_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, left_bowl)"
+      ],
+      "move_to(spoon, left_bowl)": [
+        "scoop(spoon,water,left_water)"
+      ],
+      "scoop(spoon,water,left_water)": [
+        "move_to(spoon,bowl)"
+      ],
+      "move_to(spoon,bowl)": [
+        "pour(spoon,water,right_bowl)"
+      ],
+      "pour(spoon,water,right_bowl)": [
+        "place(spoon,right_bowl)"
+      ],
+      "place(spoon,right_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-83_task-78_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-86_task-77_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon, bowl_with_water)",
+      "scoop(spoon, water,bowl_with_water)",
+      "move_to(spoon,bowl_empty)",
+      "pour(spoon,water,bowl_empty)",
+      "place(spoon,bowl_empty)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, bowl_with_water)"
+      ],
+      "move_to(spoon, bowl_with_water)": [
+        "scoop(spoon, water,bowl_with_water)"
+      ],
+      "scoop(spoon, water,bowl_with_water)": [
+        "move_to(spoon,bowl_empty)"
+      ],
+      "move_to(spoon,bowl_empty)": [
+        "pour(spoon,water,bowl_empty)"
+      ],
+      "pour(spoon,water,bowl_empty)": [
+        "place(spoon,bowl_empty)"
+      ],
+      "place(spoon,bowl_empty)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-86_task-77_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-40_rgb",
+    "actions_list": [
+      "move_to(white_cup)",
+      "grasp(white_cup)",
+      "pick_up(white_cup)",
+      "move_to(white_cup, pink_cup)",
+      "pour(white_cup,dice, pink_cup)",
+      "move_to(white_cup, table)",
+      "place(white_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(white_cup)": [
+        "grasp(white_cup)"
+      ],
+      "grasp(white_cup)": [
+        "pick_up(white_cup)"
+      ],
+      "pick_up(white_cup)": [
+        "move_to(white_cup, pink_cup)"
+      ],
+      "move_to(white_cup, pink_cup)": [
+        "pour(white_cup,dice, pink_cup)"
+      ],
+      "pour(white_cup,dice, pink_cup)": [
+        "move_to(white_cup, table)"
+      ],
+      "move_to(white_cup, table)": [
+        "place(white_cup, table)"
+      ],
+      "place(white_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-40_rgb.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-108_rgb",
+    "actions_list": [
+      "move_to(none, white_cup)",
+      "grasp(white_cup)",
+      "pick_up(white_cup)",
+      "move_to(white_cup, pink_cup)",
+      "pour(white_cup,dice, pink_cup)",
+      "move_to(white_cup, table)",
+      "place(white_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_cup)": [
+        "grasp(white_cup)"
+      ],
+      "grasp(white_cup)": [
+        "pick_up(white_cup)"
+      ],
+      "pick_up(white_cup)": [
+        "move_to(white_cup, pink_cup)"
+      ],
+      "move_to(white_cup, pink_cup)": [
+        "pour(white_cup,dice, pink_cup)"
+      ],
+      "pour(white_cup,dice, pink_cup)": [
+        "move_to(white_cup, table)"
+      ],
+      "move_to(white_cup, table)": [
+        "place(white_cup, table)"
+      ],
+      "place(white_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-108_rgb.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-111_rgb",
+    "actions_list": [
+      "move_to(none, white_cup)",
+      "grasp(white_cup)",
+      "pick_up(white_cup)",
+      "move_to(white_cup,pink_cup)",
+      "pour(white_cup, dice,pink_cup)",
+      "move_to(white_cup, table)",
+      "place(white_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_cup)": [
+        "grasp(white_cup)"
+      ],
+      "grasp(white_cup)": [
+        "pick_up(white_cup)"
+      ],
+      "pick_up(white_cup)": [
+        "move_to(white_cup,pink_cup)"
+      ],
+      "move_to(white_cup,pink_cup)": [
+        "pour(white_cup, dice,pink_cup)"
+      ],
+      "pour(white_cup, dice,pink_cup)": [
+        "move_to(white_cup, table)"
+      ],
+      "move_to(white_cup, table)": [
+        "place(white_cup, table)"
+      ],
+      "place(white_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-111_rgb.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-119_rgb",
+    "actions_list": [
+      "move_to(white_cup)",
+      "grasp(white_cup)",
+      "pick_up(white_cup)",
+      "move_to(white_cup, pink_cup)",
+      "pour(white_cup,dice, pink_cup)",
+      "move_to(white_cup,dice, table)",
+      "place(white_cup,dice, table)"
+    ],
+    "gt_dag": {
+      "move_to(white_cup)": [
+        "grasp(white_cup)"
+      ],
+      "grasp(white_cup)": [
+        "pick_up(white_cup)"
+      ],
+      "pick_up(white_cup)": [
+        "move_to(white_cup, pink_cup)"
+      ],
+      "move_to(white_cup, pink_cup)": [
+        "pour(white_cup,dice, pink_cup)"
+      ],
+      "pour(white_cup,dice, pink_cup)": [
+        "move_to(white_cup,dice, table)"
+      ],
+      "move_to(white_cup,dice, table)": [
+        "place(white_cup,dice, table)"
+      ],
+      "place(white_cup,dice, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-119_rgb.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-121_rgb",
+    "actions_list": [
+      "move_to(white_cup)",
+      "grasp(white_cup)",
+      "pick_up(white_cup)",
+      "move_to(white_cup, pink_cup)",
+      "pour(white_cup, dice,pink_cup)",
+      "move_to(white_cup, table)",
+      "place(white_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(white_cup)": [
+        "grasp(white_cup)"
+      ],
+      "grasp(white_cup)": [
+        "pick_up(white_cup)"
+      ],
+      "pick_up(white_cup)": [
+        "move_to(white_cup, pink_cup)"
+      ],
+      "move_to(white_cup, pink_cup)": [
+        "pour(white_cup, dice,pink_cup)"
+      ],
+      "pour(white_cup, dice,pink_cup)": [
+        "move_to(white_cup, table)"
+      ],
+      "move_to(white_cup, table)": [
+        "place(white_cup, table)"
+      ],
+      "place(white_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-121_rgb.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15398",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "pour(bowl,contents, pot)",
+      "move_to(bowl, table)",
+      "place(bowl, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "pour(bowl,contents, pot)"
+      ],
+      "pour(bowl,contents, pot)": [
+        "move_to(bowl, table)"
+      ],
+      "move_to(bowl, table)": [
+        "place(bowl, table)"
+      ],
+      "place(bowl, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_15398.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_20209",
+    "actions_list": [
+      "move_to(none, right_cup)",
+      "grasp(right_cup)",
+      "pick_up(right_cup)",
+      "move_to(right_cup, left_cup)",
+      "pour(right_cup,contents, left_cup)",
+      "move_to(right_cup, table)",
+      "place(right_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, right_cup)": [
+        "grasp(right_cup)"
+      ],
+      "grasp(right_cup)": [
+        "pick_up(right_cup)"
+      ],
+      "pick_up(right_cup)": [
+        "move_to(right_cup, left_cup)"
+      ],
+      "move_to(right_cup, left_cup)": [
+        "pour(right_cup,contents, left_cup)"
+      ],
+      "pour(right_cup,contents, left_cup)": [
+        "move_to(right_cup, table)"
+      ],
+      "move_to(right_cup, table)": [
+        "place(right_cup, table)"
+      ],
+      "place(right_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_20209.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_22482",
+    "actions_list": [
+      "move_to(bowl)",
+      "grasp(bowl_edge)",
+      "pick_up(bowl)",
+      "move_to(bowl, pot)",
+      "pour(bowl, content,pot)",
+      "move_to(bowl,plate)",
+      "place(bowl,plate)"
+    ],
+    "gt_dag": {
+      "move_to(bowl)": [
+        "grasp(bowl_edge)"
+      ],
+      "grasp(bowl_edge)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, pot)"
+      ],
+      "move_to(bowl, pot)": [
+        "pour(bowl, content,pot)"
+      ],
+      "pour(bowl, content,pot)": [
+        "move_to(bowl,plate)"
+      ],
+      "move_to(bowl,plate)": [
+        "place(bowl,plate)"
+      ],
+      "place(bowl,plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_22482.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_35610",
+    "actions_list": [
+      "move_to(none, bowl_on_the_right)",
+      "grasp(bowl_on_the_right)",
+      "pick_up(bowl_on_the_right)",
+      "move_to(bowl_on_the_right,bowl_on_the_left)",
+      "pour(bowl_on_the_right,contents, bowl_on_the_left)",
+      "move_to(bowl_on_the_right,Initial_Position)",
+      "place(bowl_on_the_right,Initial_Position)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl_on_the_right)": [
+        "grasp(bowl_on_the_right)"
+      ],
+      "grasp(bowl_on_the_right)": [
+        "pick_up(bowl_on_the_right)"
+      ],
+      "pick_up(bowl_on_the_right)": [
+        "move_to(bowl_on_the_right,bowl_on_the_left)"
+      ],
+      "move_to(bowl_on_the_right,bowl_on_the_left)": [
+        "pour(bowl_on_the_right,contents, bowl_on_the_left)"
+      ],
+      "pour(bowl_on_the_right,contents, bowl_on_the_left)": [
+        "move_to(bowl_on_the_right,Initial_Position)"
+      ],
+      "move_to(bowl_on_the_right,Initial_Position)": [
+        "place(bowl_on_the_right,Initial_Position)"
+      ],
+      "place(bowl_on_the_right,Initial_Position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_35610.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45938",
+    "actions_list": [
+      "move_to(mug)",
+      "grasp(mug_handle)",
+      "pick_up(mug)",
+      "move_to(mug, under_faucet)",
+      "move_to(mug, under_faucet)",
+      "hold(mug)",
+      "move_to(mug, counter_beside_the_sink_right)",
+      "place(mug, counter_beside_the_sink_right)"
+    ],
+    "gt_dag": {
+      "move_to(mug)": [
+        "grasp(mug_handle)"
+      ],
+      "grasp(mug_handle)": [
+        "pick_up(mug)"
+      ],
+      "pick_up(mug)": [
+        "move_to(mug, under_faucet)"
+      ],
+      "move_to(mug, under_faucet)": [
+        "hold(mug)"
+      ],
+      "hold(mug)": [
+        "move_to(mug, counter_beside_the_sink_right)"
+      ],
+      "move_to(mug, counter_beside_the_sink_right)": [
+        "place(mug, counter_beside_the_sink_right)"
+      ],
+      "place(mug, counter_beside_the_sink_right)": [],
+      "move_to(mug, under_faucet)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_45938.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_65264",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup_handle)",
+      "pick_up(cup)",
+      "pour(cup, water,sink)",
+      "move_to(cup,  counter_of_sink_left)",
+      "place(cup, counter_of_sink_left)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup_handle)"
+      ],
+      "grasp(cup_handle)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "pour(cup, water,sink)"
+      ],
+      "pour(cup, water,sink)": [
+        "move_to(cup,  counter_of_sink_left)"
+      ],
+      "move_to(cup,  counter_of_sink_left)": [
+        "place(cup, counter_of_sink_left)"
+      ],
+      "place(cup, counter_of_sink_left)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_65264.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_66430",
+    "actions_list": [
+      "move_to(none,  bottom_right_plate)",
+      "grasp(bottom_right_plate_edge)",
+      "pick_up(bottom_right_plate)",
+      "move_to(bottom_right_plate, top_left_plate)",
+      "pour(bottom_right_plate, contents,top_left_plate)",
+      "move_to(bottom_right_plate, table_right)",
+      "place(bottom_right_plate, table_right)"
+    ],
+    "gt_dag": {
+      "move_to(none,  bottom_right_plate)": [
+        "grasp(bottom_right_plate_edge)"
+      ],
+      "grasp(bottom_right_plate_edge)": [
+        "pick_up(bottom_right_plate)"
+      ],
+      "pick_up(bottom_right_plate)": [
+        "move_to(bottom_right_plate, top_left_plate)"
+      ],
+      "move_to(bottom_right_plate, top_left_plate)": [
+        "pour(bottom_right_plate, contents,top_left_plate)"
+      ],
+      "pour(bottom_right_plate, contents,top_left_plate)": [
+        "move_to(bottom_right_plate, table_right)"
+      ],
+      "move_to(bottom_right_plate, table_right)": [
+        "place(bottom_right_plate, table_right)"
+      ],
+      "place(bottom_right_plate, table_right)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_66430.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_66950",
+    "actions_list": [
+      "move_to(none, pan)",
+      "grasp(handle_of_the_spatula)",
+      "pick_up(spatula)",
+      "stir(spatula, liquid,pan)",
+      "place(patula,pan )"
+    ],
+    "gt_dag": {
+      "move_to(none, pan)": [
+        "grasp(handle_of_the_spatula)"
+      ],
+      "grasp(handle_of_the_spatula)": [
+        "pick_up(spatula)"
+      ],
+      "pick_up(spatula)": [
+        "stir(spatula, liquid,pan)"
+      ],
+      "stir(spatula, liquid,pan)": [
+        "place(patula,pan )"
+      ],
+      "place(patula,pan )": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_66950.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_70197",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move(cup, contents,counter)",
+      "move_to(cup, counter)",
+      "place(cup, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move(cup, contents,counter)"
+      ],
+      "move(cup, contents,counter)": [
+        "move_to(cup, counter)"
+      ],
+      "move_to(cup, counter)": [
+        "place(cup, counter)"
+      ],
+      "place(cup, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_70197.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_70641",
+    "actions_list": [
+      "move_to(none, jug)",
+      "grasp(jug_handle)",
+      "pick_up(jug)",
+      "move_to(jug,pot)",
+      "pour(jug, contents,pot)",
+      "move_to(jug, table)",
+      "place(jug, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, jug)": [
+        "grasp(jug_handle)"
+      ],
+      "grasp(jug_handle)": [
+        "pick_up(jug)"
+      ],
+      "pick_up(jug)": [
+        "move_to(jug,pot)"
+      ],
+      "move_to(jug,pot)": [
+        "pour(jug, contents,pot)"
+      ],
+      "pour(jug, contents,pot)": [
+        "move_to(jug, table)"
+      ],
+      "move_to(jug, table)": [
+        "place(jug, table)"
+      ],
+      "place(jug, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_70641.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_83032",
+    "actions_list": [
+      "move_to(none, shovel )",
+      "grasp(shovel_handle)",
+      "pick_up(shovel )",
+      "move_to(shovel, lunch_box)",
+      "pour(shovel,cookies,lunch_box)",
+      "move_to(shovel, table)",
+      "place(shovel, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, shovel )": [
+        "grasp(shovel_handle)"
+      ],
+      "grasp(shovel_handle)": [
+        "pick_up(shovel )"
+      ],
+      "pick_up(shovel )": [
+        "move_to(shovel, lunch_box)"
+      ],
+      "move_to(shovel, lunch_box)": [
+        "pour(shovel,cookies,lunch_box)"
+      ],
+      "pour(shovel,cookies,lunch_box)": [
+        "move_to(shovel, table)"
+      ],
+      "move_to(shovel, table)": [
+        "place(shovel, table)"
+      ],
+      "place(shovel, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_83032.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-53_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none,dropper)",
+      "grasp(dropper)",
+      "pick_up(dropper)",
+      "move_to(dropper, reagent_bottle)",
+      "place(dropper, glass_bottles)",
+      "press(glue_heads)",
+      "pick_up(dropper)",
+      "move_to(dropper, beaker)",
+      "place(dropper, beaker)",
+      "press(glue_head)"
+    ],
+    "gt_dag": {
+      "move_to(none,dropper)": [
+        "grasp(dropper)"
+      ],
+      "grasp(dropper)": [
+        "pick_up(dropper)"
+      ],
+      "move_to(dropper, reagent_bottle)": [
+        "place(dropper, glass_bottles)"
+      ],
+      "place(dropper, glass_bottles)": [
+        "press(glue_heads)"
+      ],
+      "press(glue_heads)": [
+        "pick_up(dropper)<1>"
+      ],
+      "pick_up(dropper)": [
+        "move_to(dropper, reagent_bottle)"
+      ],
+      "press(glue_head)": [],
+      "pick_up(dropper)<1>": [
+        "move_to(dropper, beaker)"
+      ],
+      "move_to(dropper, beaker)": [
+        "place(dropper, beaker)"
+      ],
+      "place(dropper, beaker)": [
+        "press(glue_head)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-53_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-80_episode-3_rgbd-1",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "scoop(spoon,water,bowl)",
+      "move_to(spoon, pot)",
+      "pour(spoon, water, pot)",
+      "move_to(spoon, table)",
+      "place(spoon, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "scoop(spoon,water,bowl)"
+      ],
+      "scoop(spoon,water,bowl)": [
+        "move_to(spoon, pot)"
+      ],
+      "move_to(spoon, pot)": [
+        "pour(spoon, water, pot)"
+      ],
+      "pour(spoon, water, pot)": [
+        "move_to(spoon, table)"
+      ],
+      "move_to(spoon, table)": [
+        "place(spoon, table)"
+      ],
+      "place(spoon, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-80_episode-3_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, glass_rod)",
+      "grasp(glass_rod)",
+      "stir(glass_rod, water, glass)",
+      "place(glass_rod,  glass)"
+    ],
+    "gt_dag": {
+      "move_to(none, glass_rod)": [
+        "grasp(glass_rod)"
+      ],
+      "grasp(glass_rod)": [
+        "stir(glass_rod, water, glass)"
+      ],
+      "stir(glass_rod, water, glass)": [
+        "place(glass_rod,  glass)"
+      ],
+      "place(glass_rod,  glass)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-11_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, watering_can_handle)",
+      "grasp(watering_can_handle)",
+      "pick_up(watering_can)",
+      "move_to(watering_can, plant)",
+      "pour(watering_can, water, plant)"
+    ],
+    "gt_dag": {
+      "move_to(none, watering_can_handle)": [
+        "grasp(watering_can_handle)"
+      ],
+      "grasp(watering_can_handle)": [
+        "pick_up(watering_can)"
+      ],
+      "pick_up(watering_can)": [
+        "move_to(watering_can, plant)"
+      ],
+      "move_to(watering_can, plant)": [
+        "pour(watering_can, water, plant)"
+      ],
+      "pour(watering_can, water, plant)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-11_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-37_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, cup_with_water)",
+      "grasp(cup_with_water)",
+      "pick_up(cup_with_water)",
+      "move_to(cup_with_water,empty_cup)",
+      "pour(cup_with_water, water, empty_cup)",
+      "move_to(cup_with_water, desktop)",
+      "place(cup_with_water)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup_with_water)": [
+        "grasp(cup_with_water)"
+      ],
+      "grasp(cup_with_water)": [
+        "pick_up(cup_with_water)"
+      ],
+      "pick_up(cup_with_water)": [
+        "move_to(cup_with_water,empty_cup)"
+      ],
+      "move_to(cup_with_water,empty_cup)": [
+        "pour(cup_with_water, water, empty_cup)"
+      ],
+      "pour(cup_with_water, water, empty_cup)": [
+        "move_to(cup_with_water, desktop)"
+      ],
+      "move_to(cup_with_water, desktop)": [
+        "place(cup_with_water)"
+      ],
+      "place(cup_with_water)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-37_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-53_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, dropper)",
+      "grasp(dropper)",
+      "pick_up(dropper)",
+      "place(dropper, white_glass_bottles)",
+      "press(glue_heads)",
+      "pick_up(dropper)",
+      "move_to(dropper, empty_beaker)",
+      "move_to(dropper, empty_beaker)",
+      "press(glue_heads)"
+    ],
+    "gt_dag": {
+      "move_to(none, dropper)": [
+        "grasp(dropper)"
+      ],
+      "grasp(dropper)": [
+        "pick_up(dropper)"
+      ],
+      "place(dropper, white_glass_bottles)": [
+        "press(glue_heads)"
+      ],
+      "pick_up(dropper)": [
+        "place(dropper, white_glass_bottles)"
+      ],
+      "move_to(dropper, empty_beaker)": [
+        "move_to(dropper, empty_beaker)<1>"
+      ],
+      "press(glue_heads)": [
+        "pick_up(dropper)<1>"
+      ],
+      "pick_up(dropper)<1>": [
+        "move_to(dropper, empty_beaker)"
+      ],
+      "move_to(dropper, empty_beaker)<1>": [
+        "press(glue_heads)<1>"
+      ],
+      "press(glue_heads)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-53_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-80_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon,lron_pot)",
+      "scoop(spoon, water, Iron_pot)",
+      "move_to(spoon, white_bowl)",
+      "pour(spoon, water, white_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon,lron_pot)"
+      ],
+      "move_to(spoon,lron_pot)": [
+        "scoop(spoon, water, Iron_pot)"
+      ],
+      "scoop(spoon, water, Iron_pot)": [
+        "move_to(spoon, white_bowl)"
+      ],
+      "move_to(spoon, white_bowl)": [
+        "pour(spoon, water, white_bowl)"
+      ],
+      "pour(spoon, water, white_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-80_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, ladle)",
+      "grasp(ladle_handle)",
+      "pick_up(ladle)",
+      "move_to(ladle,lron_pot)",
+      "scoop(ladle, water, lron_pot)",
+      "move_to(ladle,  glass_bowl)",
+      "pour(ladle, water, glass_bowl)",
+      "move_to(ladle, Initial_position)",
+      "place(ladle, Initial_position)"
+    ],
+    "gt_dag": {
+      "move_to(none, ladle)": [
+        "grasp(ladle_handle)"
+      ],
+      "grasp(ladle_handle)": [
+        "pick_up(ladle)"
+      ],
+      "pick_up(ladle)": [
+        "move_to(ladle,lron_pot)"
+      ],
+      "move_to(ladle,lron_pot)": [
+        "scoop(ladle, water, lron_pot)"
+      ],
+      "scoop(ladle, water, lron_pot)": [
+        "move_to(ladle,  glass_bowl)"
+      ],
+      "move_to(ladle,  glass_bowl)": [
+        "pour(ladle, water, glass_bowl)"
+      ],
+      "pour(ladle, water, glass_bowl)": [
+        "move_to(ladle, Initial_position)"
+      ],
+      "move_to(ladle, Initial_position)": [
+        "place(ladle, Initial_position)"
+      ],
+      "place(ladle, Initial_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-35_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, left_goblet)",
+      "grasp( left_goblet)",
+      "pick_up( goblet)",
+      "move_to( goblet, plastic_cups)",
+      "pour(goblet, water,plastic_cups)",
+      "move_to(goblet, plastic_cups_ahead)",
+      "place(goblet,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_goblet)": [
+        "grasp( left_goblet)"
+      ],
+      "grasp( left_goblet)": [
+        "pick_up( goblet)"
+      ],
+      "pick_up( goblet)": [
+        "move_to( goblet, plastic_cups)"
+      ],
+      "move_to( goblet, plastic_cups)": [
+        "pour(goblet, water,plastic_cups)"
+      ],
+      "pour(goblet, water,plastic_cups)": [
+        "move_to(goblet, plastic_cups_ahead)"
+      ],
+      "move_to(goblet, plastic_cups_ahead)": [
+        "place(goblet,table)"
+      ],
+      "place(goblet,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-35_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_2",
+    "actions_list": [
+      "move_to(none,shovel_handle)",
+      "grasp(shovel_handle)",
+      "pick_up(shovel)",
+      "move_to(shovel,goblet)",
+      "pour(shovel,ice,goblet)",
+      "move_to(shovel, Initial_position)",
+      "place(shovel, Initial_position)"
+    ],
+    "gt_dag": {
+      "move_to(none,shovel_handle)": [
+        "grasp(shovel_handle)"
+      ],
+      "grasp(shovel_handle)": [
+        "pick_up(shovel)"
+      ],
+      "pick_up(shovel)": [
+        "move_to(shovel,goblet)"
+      ],
+      "move_to(shovel,goblet)": [
+        "pour(shovel,ice,goblet)"
+      ],
+      "pour(shovel,ice,goblet)": [
+        "move_to(shovel, Initial_position)"
+      ],
+      "move_to(shovel, Initial_position)": [
+        "place(shovel, Initial_position)"
+      ],
+      "place(shovel, Initial_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_cocktail_sunset_ice_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_coconut_episode_11",
+    "actions_list": [
+      "move_to(none, black_cup)",
+      "grasp( black_cup)",
+      "pick_up(cup)",
+      "move_to(cup, goblet)",
+      "pour(black_cup,water, goblet),",
+      "move_to(black_cup,original_location),",
+      "place(black_cup,original_location),"
+    ],
+    "gt_dag": {
+      "move_to(none, black_cup)": [
+        "grasp( black_cup)"
+      ],
+      "grasp( black_cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, goblet)"
+      ],
+      "move_to(cup, goblet)": [
+        "pour(black_cup,water, goblet),"
+      ],
+      "pour(black_cup,water, goblet),": [
+        "move_to(black_cup,original_location),"
+      ],
+      "move_to(black_cup,original_location),": [
+        "place(black_cup,original_location),"
+      ],
+      "place(black_cup,original_location),": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_cocktail_sunset_coconut_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_0",
+    "actions_list": [
+      "move_to(none, orange_juice_cup)",
+      "grasp(orange_juice_cup)",
+      "pick_up(orange_juice_cup)",
+      "move_to(orange_juice_cup, goblet)",
+      "pour(orange_juice_cup,orange_juice, goblet)",
+      "move_to(orange_juice_cup, Initial_position)",
+      "place(orange_juice_cup, Initial_position)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_juice_cup)": [
+        "grasp(orange_juice_cup)"
+      ],
+      "grasp(orange_juice_cup)": [
+        "pick_up(orange_juice_cup)"
+      ],
+      "pick_up(orange_juice_cup)": [
+        "move_to(orange_juice_cup, goblet)"
+      ],
+      "move_to(orange_juice_cup, goblet)": [
+        "pour(orange_juice_cup,orange_juice, goblet)"
+      ],
+      "pour(orange_juice_cup,orange_juice, goblet)": [
+        "move_to(orange_juice_cup, Initial_position)"
+      ],
+      "move_to(orange_juice_cup, Initial_position)": [
+        "place(orange_juice_cup, Initial_position)"
+      ],
+      "place(orange_juice_cup, Initial_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_cocktail_sunset_orange_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_3",
+    "actions_list": [
+      "move_to(none, yellow_cup)",
+      "grasp(yellow_cup)",
+      "pick_up(yellow_cup)",
+      "move_to(yellow_cup, goblet)",
+      "pour(yellow_cup, yellow_liquid, goblet)",
+      "move_to(yellow_cup, Initial_position)",
+      "place(yellow_cup, Initial_position)"
+    ],
+    "gt_dag": {
+      "move_to(none, yellow_cup)": [
+        "grasp(yellow_cup)"
+      ],
+      "grasp(yellow_cup)": [
+        "pick_up(yellow_cup)"
+      ],
+      "pick_up(yellow_cup)": [
+        "move_to(yellow_cup, goblet)"
+      ],
+      "move_to(yellow_cup, goblet)": [
+        "pour(yellow_cup, yellow_liquid, goblet)"
+      ],
+      "pour(yellow_cup, yellow_liquid, goblet)": [
+        "move_to(yellow_cup, Initial_position)"
+      ],
+      "move_to(yellow_cup, Initial_position)": [
+        "place(yellow_cup, Initial_position)"
+      ],
+      "place(yellow_cup, Initial_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_red_episode_6",
+    "actions_list": [
+      "move_to(none,red_cup)",
+      "grasp(red_cup)",
+      "pick_up(red_cup)",
+      "move_to(red_cup, goblet)",
+      "pour(red_cup,red_liquid , goblet),",
+      "move_to(red_cup,Initial_position)",
+      "place(red_cup,Initial_position)"
+    ],
+    "gt_dag": {
+      "move_to(none,red_cup)": [
+        "grasp(red_cup)"
+      ],
+      "grasp(red_cup)": [
+        "pick_up(red_cup)"
+      ],
+      "pick_up(red_cup)": [
+        "move_to(red_cup, goblet)"
+      ],
+      "move_to(red_cup, goblet)": [
+        "pour(red_cup,red_liquid , goblet),"
+      ],
+      "pour(red_cup,red_liquid , goblet),": [
+        "move_to(red_cup,Initial_position)"
+      ],
+      "move_to(red_cup,Initial_position)": [
+        "place(red_cup,Initial_position)"
+      ],
+      "place(red_cup,Initial_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_cocktail_sunset_red_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pick_bottle_get_water_episode_1",
+    "actions_list": [
+      "move_to(none, water_bottle)",
+      "grasp(water_bottle)",
+      "pick_up(water_bottle)",
+      "move_to(water_bottle, water_dispenser)",
+      "press( water_dispenser_switch)",
+      "move_to(water_bottle, original_-position)",
+      "place(water_bottle, original_-position)"
+    ],
+    "gt_dag": {
+      "move_to(none, water_bottle)": [
+        "grasp(water_bottle)"
+      ],
+      "grasp(water_bottle)": [
+        "pick_up(water_bottle)"
+      ],
+      "pick_up(water_bottle)": [
+        "move_to(water_bottle, water_dispenser)"
+      ],
+      "move_to(water_bottle, water_dispenser)": [
+        "press( water_dispenser_switch)"
+      ],
+      "press( water_dispenser_switch)": [
+        "move_to(water_bottle, original_-position)"
+      ],
+      "move_to(water_bottle, original_-position)": [
+        "place(water_bottle, original_-position)"
+      ],
+      "place(water_bottle, original_-position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_pick_bottle_get_water_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_between_cup_episode_1",
+    "actions_list": [
+      "move_to(none, black_cup)",
+      "grasp(black_cup)",
+      "pick_up(black_cup)",
+      "move_to(black_cup, white_cup)",
+      "pour(black_cup, water, white_cup)",
+      "move_to(black_cup, initial_position)",
+      "move_to(black_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, black_cup)": [
+        "grasp(black_cup)"
+      ],
+      "grasp(black_cup)": [
+        "pick_up(black_cup)"
+      ],
+      "pick_up(black_cup)": [
+        "move_to(black_cup, white_cup)"
+      ],
+      "move_to(black_cup, white_cup)": [
+        "pour(black_cup, water, white_cup)"
+      ],
+      "pour(black_cup, water, white_cup)": [
+        "move_to(black_cup, initial_position)"
+      ],
+      "move_to(black_cup, initial_position)": [
+        "move_to(black_cup, table)"
+      ],
+      "move_to(black_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_pour_water_between_cup_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_dark_meeting_room_episode_9",
+    "actions_list": [
+      "right:move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, mug)",
+      "pour(bottle, water,mug)",
+      "move_to(bottle, original_position)",
+      "place(bottle, table)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, mug)"
+      ],
+      "move_to(bottle, mug)": [
+        "pour(bottle, water,mug)"
+      ],
+      "pour(bottle, water,mug)": [
+        "move_to(bottle, original_position)"
+      ],
+      "move_to(bottle, original_position)": [
+        "place(bottle, table)"
+      ],
+      "place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_pour_water_dark_meeting_room_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_g2k_episode_4",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, black_kettle)",
+      "pour(cup, water,black_kettle)",
+      "move_to(cup,original_position)",
+      "place(cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, black_kettle)"
+      ],
+      "move_to(cup, black_kettle)": [
+        "pour(cup, water,black_kettle)"
+      ],
+      "pour(cup, water,black_kettle)": [
+        "move_to(cup,original_position)"
+      ],
+      "move_to(cup,original_position)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_pour_water_g2k_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0",
+    "actions_list": [
+      "move_to(none, jigger)",
+      "grasp(jigger)",
+      "pick_up(jigger)",
+      "move_to(jigger, glass)",
+      "pour(jigger, liquid,glass)",
+      "move_to(jigger,original_position)",
+      "place(jigger,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, jigger)": [
+        "grasp(jigger)"
+      ],
+      "grasp(jigger)": [
+        "pick_up(jigger)"
+      ],
+      "pick_up(jigger)": [
+        "move_to(jigger, glass)"
+      ],
+      "move_to(jigger, glass)": [
+        "pour(jigger, liquid,glass)"
+      ],
+      "pour(jigger, liquid,glass)": [
+        "move_to(jigger,original_position)"
+      ],
+      "move_to(jigger,original_position)": [
+        "place(jigger,table)"
+      ],
+      "place(jigger,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_pour_water_jigger2cup_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_left_hand_episode_26",
+    "actions_list": [
+      "move_to(none, water_bottle)",
+      "grasp(water_bottle)",
+      "pick_up(water_bottle)",
+      "move_to(water_bottle, mug)",
+      "pour(water_bottle,wayer,mug),",
+      "move_to(water_bottle, original_position)",
+      "place(water_bottle,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, water_bottle)": [
+        "grasp(water_bottle)"
+      ],
+      "grasp(water_bottle)": [
+        "pick_up(water_bottle)"
+      ],
+      "pick_up(water_bottle)": [
+        "move_to(water_bottle, mug)"
+      ],
+      "move_to(water_bottle, mug)": [
+        "pour(water_bottle,wayer,mug),"
+      ],
+      "pour(water_bottle,wayer,mug),": [
+        "move_to(water_bottle, original_position)"
+      ],
+      "move_to(water_bottle, original_position)": [
+        "place(water_bottle,table)"
+      ],
+      "place(water_bottle,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_pour_water_left_hand_episode_26.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_meeting_room_episode_9",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, mug)",
+      "pour(bottle, water,mug)",
+      "move_to(bottle, original_position)",
+      "place(bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, mug)"
+      ],
+      "move_to(bottle, mug)": [
+        "pour(bottle, water,mug)"
+      ],
+      "pour(bottle, water,mug)": [
+        "move_to(bottle, original_position)"
+      ],
+      "move_to(bottle, original_position)": [
+        "place(bottle, table)"
+      ],
+      "place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_pour_water_meeting_room_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_stir_liquid_inside_cup_episode_2",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "stir(spoon, water,cup)",
+      "place(spoon, cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "stir(spoon, water,cup)"
+      ],
+      "stir(spoon, water,cup)": [
+        "place(spoon, cup)"
+      ],
+      "place(spoon, cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_stir_liquid_inside_cup_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_25",
+    "actions_list": [
+      "move_to(none, watering_can)",
+      "grasp(watering_can)",
+      "pick_up(watering_can)",
+      "move_to(watering_can,plant)",
+      "pour(watering_can, water,plant)",
+      "move_to(watering_can, pink_plate)",
+      "place(watering_can, pink_plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, watering_can)": [
+        "grasp(watering_can)"
+      ],
+      "grasp(watering_can)": [
+        "pick_up(watering_can)"
+      ],
+      "pick_up(watering_can)": [
+        "move_to(watering_can,plant)"
+      ],
+      "move_to(watering_can,plant)": [
+        "pour(watering_can, water,plant)"
+      ],
+      "pour(watering_can, water,plant)": [
+        "move_to(watering_can, pink_plate)"
+      ],
+      "move_to(watering_can, pink_plate)": [
+        "place(watering_can, pink_plate)"
+      ],
+      "place(watering_can, pink_plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_25.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_199",
+    "actions_list": [
+      "move_to(none, watering_can)",
+      "grasp(watering_can)",
+      "pick_up(watering_can)",
+      "move_to(watering_can, plant)",
+      "pour(watering_can, water,plant)",
+      "movve_to(watering_can, plate)",
+      "place(watering_can, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, watering_can)": [
+        "grasp(watering_can)"
+      ],
+      "grasp(watering_can)": [
+        "pick_up(watering_can)"
+      ],
+      "pick_up(watering_can)": [
+        "move_to(watering_can, plant)"
+      ],
+      "move_to(watering_can, plant)": [
+        "pour(watering_can, water,plant)"
+      ],
+      "pour(watering_can, water,plant)": [
+        "movve_to(watering_can, plate)"
+      ],
+      "movve_to(watering_can, plate)": [
+        "place(watering_can, plate)"
+      ],
+      "place(watering_can, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_199.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_2",
+    "actions_list": [
+      "pick_up(mug)",
+      "move_to(creamer, mug)",
+      "pour(creamer, ping_pong,mug)"
+    ],
+    "gt_dag": {
+      "pick_up(mug)": [
+        "move_to(creamer, mug)"
+      ],
+      "move_to(creamer, mug)": [
+        "pour(creamer, ping_pong,mug)"
+      ],
+      "pour(creamer, ping_pong,mug)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_15129",
+    "actions_list": [
+      "move_to(none, jar_of_trail_mix)",
+      "grasp(jar_of_trail_mix)",
+      "pick_up(jar_of_trail_mix)",
+      "move_to(jar_of_trail_mix, pot)",
+      "pour(jar_of_trail_mix,trail_mix, pot)",
+      "move_to(jar_of_trail_mix, countertop)",
+      "place(jar_of_trail_mix, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, jar_of_trail_mix)": [
+        "grasp(jar_of_trail_mix)"
+      ],
+      "grasp(jar_of_trail_mix)": [
+        "pick_up(jar_of_trail_mix)"
+      ],
+      "pick_up(jar_of_trail_mix)": [
+        "move_to(jar_of_trail_mix, pot)"
+      ],
+      "move_to(jar_of_trail_mix, pot)": [
+        "pour(jar_of_trail_mix,trail_mix, pot)"
+      ],
+      "pour(jar_of_trail_mix,trail_mix, pot)": [
+        "move_to(jar_of_trail_mix, countertop)"
+      ],
+      "move_to(jar_of_trail_mix, countertop)": [
+        "place(jar_of_trail_mix, countertop)"
+      ],
+      "place(jar_of_trail_mix, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_15129.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_334",
+    "actions_list": [
+      "move_to(none, jar)",
+      "grasp(jar)",
+      "pick_up(jar)",
+      "move_to(jar,glass)",
+      "pour(jar, juice,glass)",
+      "move_to(jar, original_position)",
+      "place(jar, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, jar)": [
+        "grasp(jar)"
+      ],
+      "grasp(jar)": [
+        "pick_up(jar)"
+      ],
+      "pick_up(jar)": [
+        "move_to(jar,glass)"
+      ],
+      "move_to(jar,glass)": [
+        "pour(jar, juice,glass)"
+      ],
+      "pour(jar, juice,glass)": [
+        "move_to(jar, original_position)"
+      ],
+      "move_to(jar, original_position)": [
+        "place(jar, table)"
+      ],
+      "place(jar, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_334.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_902",
+    "actions_list": [
+      "move_to(spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon, left_bowl)",
+      "scoop(spoon,coffee_bean ,left_bowl)",
+      "move_to(spoon,right_bowl)",
+      "pour(spoon,coffee_bean,right_bowl)",
+      "move_to(spoon,original_position)",
+      "place(spoon,table)"
+    ],
+    "gt_dag": {
+      "move_to(spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, left_bowl)"
+      ],
+      "move_to(spoon, left_bowl)": [
+        "scoop(spoon,coffee_bean ,left_bowl)"
+      ],
+      "scoop(spoon,coffee_bean ,left_bowl)": [
+        "move_to(spoon,right_bowl)"
+      ],
+      "move_to(spoon,right_bowl)": [
+        "pour(spoon,coffee_bean,right_bowl)"
+      ],
+      "pour(spoon,coffee_bean,right_bowl)": [
+        "move_to(spoon,original_position)"
+      ],
+      "move_to(spoon,original_position)": [
+        "place(spoon,table)"
+      ],
+      "place(spoon,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_902.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_1405",
+    "actions_list": [
+      "move_to(none, mug)",
+      "grasp(mug)",
+      "pick_up(mug)",
+      "move_to(mug, bowl)",
+      "pour(mug, coffee_bean,bowl)",
+      "move_to(mug, original_position)",
+      "place(mug, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, mug)": [
+        "grasp(mug)"
+      ],
+      "grasp(mug)": [
+        "pick_up(mug)"
+      ],
+      "pick_up(mug)": [
+        "move_to(mug, bowl)"
+      ],
+      "move_to(mug, bowl)": [
+        "pour(mug, coffee_bean,bowl)"
+      ],
+      "pour(mug, coffee_bean,bowl)": [
+        "move_to(mug, original_position)"
+      ],
+      "move_to(mug, original_position)": [
+        "place(mug, table)"
+      ],
+      "place(mug, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_1405.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_1870",
+    "actions_list": [
+      "move_to(none, green_spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "scoop(spoon, White_objects,contents_from_the_container)",
+      "move_to(spoon_with_contents, bowl)",
+      "pour(spoon,white_object, bowl)",
+      "move_to(spoon,original_position)",
+      "place(spoon,contents_from_the_container)"
+    ],
+    "gt_dag": {
+      "move_to(none, green_spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "scoop(spoon, White_objects,contents_from_the_container)"
+      ],
+      "scoop(spoon, White_objects,contents_from_the_container)": [
+        "move_to(spoon_with_contents, bowl)"
+      ],
+      "move_to(spoon_with_contents, bowl)": [
+        "pour(spoon,white_object, bowl)"
+      ],
+      "pour(spoon,white_object, bowl)": [
+        "move_to(spoon,original_position)"
+      ],
+      "move_to(spoon,original_position)": [
+        "place(spoon,contents_from_the_container)"
+      ],
+      "place(spoon,contents_from_the_container)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_1870.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_2040",
+    "actions_list": [
+      "move_to(none, coffee_grinder)",
+      "grasp(plate)",
+      "pick_up(plate)",
+      "move_to(plate,coffee_maker)",
+      "pour( plate,coffee_bean,coffee_maker)",
+      "move_to(plate,original_position)",
+      "move_to(plate,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, coffee_grinder)": [
+        "grasp(plate)"
+      ],
+      "grasp(plate)": [
+        "pick_up(plate)"
+      ],
+      "pick_up(plate)": [
+        "move_to(plate,coffee_maker)"
+      ],
+      "move_to(plate,coffee_maker)": [
+        "pour( plate,coffee_bean,coffee_maker)"
+      ],
+      "pour( plate,coffee_bean,coffee_maker)": [
+        "move_to(plate,original_position)"
+      ],
+      "move_to(plate,original_position)": [],
+      "move_to(plate,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_2040.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_2831",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, bowl)",
+      "scoop(spoon,coffee_bean, bowl)",
+      "move_to(spoon, black_pot)",
+      "turn(spoon,coffee_bean,black_pot)",
+      "move_to(spoon, original_position)",
+      "place(spoon,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, bowl)"
+      ],
+      "move_to(spoon, bowl)": [
+        "scoop(spoon,coffee_bean, bowl)"
+      ],
+      "scoop(spoon,coffee_bean, bowl)": [
+        "move_to(spoon, black_pot)"
+      ],
+      "move_to(spoon, black_pot)": [
+        "turn(spoon,coffee_bean,black_pot)"
+      ],
+      "turn(spoon,coffee_bean,black_pot)": [
+        "move_to(spoon, original_position)"
+      ],
+      "move_to(spoon, original_position)": [
+        "place(spoon,table)"
+      ],
+      "place(spoon,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_2831.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5056",
+    "actions_list": [
+      "move_to(none, orange_cup)",
+      "grasp(orange_cup)",
+      "pick_up(orange_cup)",
+      "move_to(orange_cup, grey_plate)",
+      "pour(orange_cup,object, grey_plate)",
+      "move_to(orange_cup, original_position)",
+      "place(orange_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_cup)": [
+        "grasp(orange_cup)"
+      ],
+      "grasp(orange_cup)": [
+        "pick_up(orange_cup)"
+      ],
+      "pick_up(orange_cup)": [
+        "move_to(orange_cup, grey_plate)"
+      ],
+      "move_to(orange_cup, grey_plate)": [
+        "pour(orange_cup,object, grey_plate)"
+      ],
+      "pour(orange_cup,object, grey_plate)": [
+        "move_to(orange_cup, original_position)"
+      ],
+      "move_to(orange_cup, original_position)": [
+        "place(orange_cup, table)"
+      ],
+      "place(orange_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_5056.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5486",
+    "actions_list": [
+      "move_to(none,bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, cup)",
+      "pour(bottle,liquid, cup)",
+      "move_to(bottle, original_position)",
+      "place(bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, cup)"
+      ],
+      "move_to(bottle, cup)": [
+        "pour(bottle,liquid, cup)"
+      ],
+      "pour(bottle,liquid, cup)": [
+        "move_to(bottle, original_position)"
+      ],
+      "move_to(bottle, original_position)": [
+        "place(bottle, table)"
+      ],
+      "place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_5486.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5629",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl, cup)",
+      "pour(bowl,black_powder, cup)",
+      "move_to(bowl, odiginal_position)",
+      "place(bowl, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, cup)"
+      ],
+      "move_to(bowl, cup)": [
+        "pour(bowl,black_powder, cup)"
+      ],
+      "pour(bowl,black_powder, cup)": [
+        "move_to(bowl, odiginal_position)"
+      ],
+      "move_to(bowl, odiginal_position)": [
+        "place(bowl, table)"
+      ],
+      "place(bowl, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_5629.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5673",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, bowl)",
+      "pour(cup, water,bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, bowl)"
+      ],
+      "move_to(cup, bowl)": [
+        "pour(cup, water,bowl)"
+      ],
+      "pour(cup, water,bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_5673.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6132",
+    "actions_list": [
+      "move_to(none, milk_carton)",
+      "grasp(milk_carton)",
+      "pick_up(milk_carton)",
+      "move_to(milk_carton,bowl)",
+      "pour(milk_carton,milk, bowl)",
+      "move_to(milk_carton, original_position)",
+      "place(milk_carton, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, milk_carton)": [
+        "grasp(milk_carton)"
+      ],
+      "grasp(milk_carton)": [
+        "pick_up(milk_carton)"
+      ],
+      "pick_up(milk_carton)": [
+        "move_to(milk_carton,bowl)"
+      ],
+      "move_to(milk_carton,bowl)": [
+        "pour(milk_carton,milk, bowl)"
+      ],
+      "pour(milk_carton,milk, bowl)": [
+        "move_to(milk_carton, original_position)"
+      ],
+      "move_to(milk_carton, original_position)": [
+        "place(milk_carton, table)"
+      ],
+      "place(milk_carton, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_6132.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6472",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, bowl)",
+      "pour(cup,coffee_bean, bowl)",
+      "move_to(cup,table)",
+      "move_to(cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, bowl)"
+      ],
+      "move_to(cup, bowl)": [
+        "pour(cup,coffee_bean, bowl)"
+      ],
+      "pour(cup,coffee_bean, bowl)": [
+        "move_to(cup,table)"
+      ],
+      "move_to(cup,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_6472.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6966",
+    "actions_list": [
+      "move_to(none, green_cup)",
+      "grasp(green_cup)",
+      "pick_up(green_cup)",
+      "move_to(green_cup, cream_white_plate)",
+      "pour(green_cup,french_fries,cream_white_plate)",
+      "move_to(green_cup, original_position)",
+      "place(green_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, green_cup)": [
+        "grasp(green_cup)"
+      ],
+      "grasp(green_cup)": [
+        "pick_up(green_cup)"
+      ],
+      "pick_up(green_cup)": [
+        "move_to(green_cup, cream_white_plate)"
+      ],
+      "move_to(green_cup, cream_white_plate)": [
+        "pour(green_cup,french_fries,cream_white_plate)"
+      ],
+      "pour(green_cup,french_fries,cream_white_plate)": [
+        "move_to(green_cup, original_position)"
+      ],
+      "move_to(green_cup, original_position)": [
+        "place(green_cup, table)"
+      ],
+      "place(green_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_6966.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_7439",
+    "actions_list": [
+      "move_to(none, blue_cup)",
+      "grasp(blue_cup)",
+      "pick_up(blue_cup)",
+      "move_to(blue_cup, plate)",
+      "pour(blue_cup, fries,green_plate)",
+      "move_to(blue_cup, original_position)",
+      "place(blue_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, blue_cup)": [
+        "grasp(blue_cup)"
+      ],
+      "grasp(blue_cup)": [
+        "pick_up(blue_cup)"
+      ],
+      "pick_up(blue_cup)": [
+        "move_to(blue_cup, plate)"
+      ],
+      "move_to(blue_cup, plate)": [
+        "pour(blue_cup, fries,green_plate)"
+      ],
+      "pour(blue_cup, fries,green_plate)": [
+        "move_to(blue_cup, original_position)"
+      ],
+      "move_to(blue_cup, original_position)": [
+        "place(blue_cup, table)"
+      ],
+      "place(blue_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_7439.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_7958",
+    "actions_list": [
+      "move_to(none, bowl_and_the_spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "scoop(spoon,coffee_bean ,bowl)",
+      "move_to(spoon_with_the_contents,cup)",
+      "pour(spoon,coffee_bean,cup)",
+      "move_to(spoon,original_position)",
+      "place(spoon,original_position)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl_and_the_spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "scoop(spoon,coffee_bean ,bowl)"
+      ],
+      "scoop(spoon,coffee_bean ,bowl)": [
+        "move_to(spoon_with_the_contents,cup)"
+      ],
+      "move_to(spoon_with_the_contents,cup)": [
+        "pour(spoon,coffee_bean,cup)"
+      ],
+      "pour(spoon,coffee_bean,cup)": [
+        "move_to(spoon,original_position)"
+      ],
+      "move_to(spoon,original_position)": [
+        "place(spoon,original_position)"
+      ],
+      "place(spoon,original_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_7958.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_8171",
+    "actions_list": [
+      "move_to(none,cup_handle)",
+      "grasp(cup_handle)",
+      "pick_up(cup)",
+      "scoop(cup, powder,bowl)",
+      "move_to(cup,jar)",
+      "pour(cup,powder, jar)",
+      "move_to(cup,original_position)",
+      "move_to(cup,bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none,cup_handle)": [
+        "grasp(cup_handle)"
+      ],
+      "grasp(cup_handle)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "scoop(cup, powder,bowl)"
+      ],
+      "scoop(cup, powder,bowl)": [
+        "move_to(cup,jar)"
+      ],
+      "move_to(cup,jar)": [
+        "pour(cup,powder, jar)"
+      ],
+      "pour(cup,powder, jar)": [
+        "move_to(cup,original_position)"
+      ],
+      "move_to(cup,original_position)": [
+        "move_to(cup,bowl)"
+      ],
+      "move_to(cup,bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_8171.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_9078",
+    "actions_list": [
+      "move_to(none, spice_jar)",
+      "grasp(spice_jar)",
+      "pick_up(spice_jar)",
+      "move_to(spice_jar, pan)",
+      "pour(spice_jar,spice, pan)",
+      "move_to(spice_jar, shelf)",
+      "place(spice_jar, shelf)"
+    ],
+    "gt_dag": {
+      "move_to(none, spice_jar)": [
+        "grasp(spice_jar)"
+      ],
+      "grasp(spice_jar)": [
+        "pick_up(spice_jar)"
+      ],
+      "pick_up(spice_jar)": [
+        "move_to(spice_jar, pan)"
+      ],
+      "move_to(spice_jar, pan)": [
+        "pour(spice_jar,spice, pan)"
+      ],
+      "pour(spice_jar,spice, pan)": [
+        "move_to(spice_jar, shelf)"
+      ],
+      "move_to(spice_jar, shelf)": [
+        "place(spice_jar, shelf)"
+      ],
+      "place(spice_jar, shelf)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_9078.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_9510",
+    "actions_list": [
+      "move_to(none, mug)",
+      "grasp(mug)",
+      "pick_up(mug)",
+      "move_to(mug, sink)",
+      "pour(mug, water,sink)",
+      "move_to(mug, left_side_of_the_sink)",
+      "place(mug, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, mug)": [
+        "grasp(mug)"
+      ],
+      "grasp(mug)": [
+        "pick_up(mug)"
+      ],
+      "pick_up(mug)": [
+        "move_to(mug, sink)"
+      ],
+      "move_to(mug, sink)": [
+        "pour(mug, water,sink)"
+      ],
+      "pour(mug, water,sink)": [
+        "move_to(mug, left_side_of_the_sink)"
+      ],
+      "move_to(mug, left_side_of_the_sink)": [
+        "place(mug, counter)"
+      ],
+      "place(mug, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_9510.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_10026",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(spoon_handlel)",
+      "pick_up(spoon_handlel)",
+      "scoop(spoon, material,material_from_the_bowl)",
+      "move_to(spoon, crate)",
+      "pour(spoon,material, crate)",
+      "move_to(spoon,original_position)",
+      "place(spoon,bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(spoon_handlel)"
+      ],
+      "grasp(spoon_handlel)": [
+        "pick_up(spoon_handlel)"
+      ],
+      "pick_up(spoon_handlel)": [
+        "scoop(spoon, material,material_from_the_bowl)"
+      ],
+      "scoop(spoon, material,material_from_the_bowl)": [
+        "move_to(spoon, crate)"
+      ],
+      "move_to(spoon, crate)": [
+        "pour(spoon,material, crate)"
+      ],
+      "pour(spoon,material, crate)": [
+        "move_to(spoon,original_position)"
+      ],
+      "move_to(spoon,original_position)": [
+        "place(spoon,bowl)"
+      ],
+      "place(spoon,bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_10026.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_10519",
+    "actions_list": [
+      "move_to(none,spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon, bowl)",
+      "scoop(spoon,coffee_bean, bowl)",
+      "move_to(spoon, jug)",
+      "pour(spoon, coffee_bean,jug)",
+      "move_to( spoon,original_position)",
+      "place( spoon,table)"
+    ],
+    "gt_dag": {
+      "move_to(none,spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, bowl)"
+      ],
+      "move_to(spoon, bowl)": [
+        "scoop(spoon,coffee_bean, bowl)"
+      ],
+      "scoop(spoon,coffee_bean, bowl)": [
+        "move_to(spoon, jug)"
+      ],
+      "move_to(spoon, jug)": [
+        "pour(spoon, coffee_bean,jug)"
+      ],
+      "pour(spoon, coffee_bean,jug)": [
+        "move_to( spoon,original_position)"
+      ],
+      "move_to( spoon,original_position)": [
+        "place( spoon,table)"
+      ],
+      "place( spoon,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_10519.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_11803",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, bowl)",
+      "pour(cup,water, bowl)",
+      "move_to(cup, table)",
+      "place(cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, bowl)"
+      ],
+      "move_to(cup, bowl)": [
+        "pour(cup,water, bowl)"
+      ],
+      "pour(cup,water, bowl)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_11803.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_12254",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_iup(cup)",
+      "move_to(cup, black_pot)",
+      "pour(cup,powder, black_pot)",
+      "move_to(cup, table)",
+      "place(cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_iup(cup)"
+      ],
+      "pick_iup(cup)": [
+        "move_to(cup, black_pot)"
+      ],
+      "move_to(cup, black_pot)": [
+        "pour(cup,powder, black_pot)"
+      ],
+      "pour(cup,powder, black_pot)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_12254.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_13023",
+    "actions_list": [
+      "move_to(none, middle_bowl)",
+      "grasp(middle_bowl)",
+      "pick_up(middle_bowl)",
+      "move_to(middle_bowl, left_bowl)",
+      "pour(middle_bowl,water, left_bowl)",
+      "move_to(middle_bowl, original_position)",
+      "place(middle_bowl, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, middle_bowl)": [
+        "grasp(middle_bowl)"
+      ],
+      "grasp(middle_bowl)": [
+        "pick_up(middle_bowl)"
+      ],
+      "pick_up(middle_bowl)": [
+        "move_to(middle_bowl, left_bowl)"
+      ],
+      "move_to(middle_bowl, left_bowl)": [
+        "pour(middle_bowl,water, left_bowl)"
+      ],
+      "pour(middle_bowl,water, left_bowl)": [
+        "move_to(middle_bowl, original_position)"
+      ],
+      "move_to(middle_bowl, original_position)": [
+        "place(middle_bowl, table)"
+      ],
+      "place(middle_bowl, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_13023.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15274",
+    "actions_list": [
+      "move_to(none, spice_bottle)",
+      "grasp(spice_bottle)",
+      "pick_up(spice_bottle)",
+      "move_to(spice_bottle, bowl)",
+      "pour(spice_bottle, spice,bowl)",
+      "move_to(spice_bottle, table)",
+      "place(spice_bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spice_bottle)": [
+        "grasp(spice_bottle)"
+      ],
+      "grasp(spice_bottle)": [
+        "pick_up(spice_bottle)"
+      ],
+      "pick_up(spice_bottle)": [
+        "move_to(spice_bottle, bowl)"
+      ],
+      "move_to(spice_bottle, bowl)": [
+        "pour(spice_bottle, spice,bowl)"
+      ],
+      "pour(spice_bottle, spice,bowl)": [
+        "move_to(spice_bottle, table)"
+      ],
+      "move_to(spice_bottle, table)": [
+        "place(spice_bottle, table)"
+      ],
+      "place(spice_bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_15274.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15612",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "pour(cup,water, sink)",
+      "move_to(cup, original_position)",
+      "place(cup, sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "pour(cup,water, sink)"
+      ],
+      "pour(cup,water, sink)": [
+        "move_to(cup, original_position)"
+      ],
+      "move_to(cup, original_position)": [
+        "place(cup, sink)"
+      ],
+      "place(cup, sink)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_15612.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15737",
+    "actions_list": [
+      "move_to(none, broom)",
+      "grasp(broom)",
+      "pick_up(broom)",
+      "move_to(broom,white_powder)",
+      "wipe(broom,white_powder,table)",
+      "move_to(broom,table)",
+      "place(broom,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, broom)": [
+        "grasp(broom)"
+      ],
+      "grasp(broom)": [
+        "pick_up(broom)"
+      ],
+      "pick_up(broom)": [
+        "move_to(broom,white_powder)"
+      ],
+      "move_to(broom,white_powder)": [
+        "wipe(broom,white_powder,table)"
+      ],
+      "wipe(broom,white_powder,table)": [
+        "move_to(broom,table)"
+      ],
+      "move_to(broom,table)": [
+        "place(broom,table)"
+      ],
+      "place(broom,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_15737.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15946",
+    "actions_list": [
+      "move_to(none,spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon, right_bowl)",
+      "scoop(spoon,powder,right_bowl)",
+      "move_to(spoon, left_bowl)",
+      "pour(spoon,powder,left_bowl)",
+      "move_to(spoon,original_position)",
+      "place(spoon,table)"
+    ],
+    "gt_dag": {
+      "move_to(none,spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, right_bowl)"
+      ],
+      "move_to(spoon, right_bowl)": [
+        "scoop(spoon,powder,right_bowl)"
+      ],
+      "scoop(spoon,powder,right_bowl)": [
+        "move_to(spoon, left_bowl)"
+      ],
+      "move_to(spoon, left_bowl)": [
+        "pour(spoon,powder,left_bowl)"
+      ],
+      "pour(spoon,powder,left_bowl)": [
+        "move_to(spoon,original_position)"
+      ],
+      "move_to(spoon,original_position)": [
+        "place(spoon,table)"
+      ],
+      "place(spoon,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_15946.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_18293",
+    "actions_list": [
+      "move_to(none, goblet)",
+      "grasp(goblet)",
+      "pick_up(goblet)",
+      "pour(goblet,yellow_object, plastic_cup)",
+      "move_to(goble, original_position)",
+      "place(goblet,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, goblet)": [
+        "grasp(goblet)"
+      ],
+      "grasp(goblet)": [
+        "pick_up(goblet)"
+      ],
+      "pick_up(goblet)": [
+        "pour(goblet,yellow_object, plastic_cup)"
+      ],
+      "pour(goblet,yellow_object, plastic_cup)": [
+        "move_to(goble, original_position)"
+      ],
+      "move_to(goble, original_position)": [
+        "place(goblet,table)"
+      ],
+      "place(goblet,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_18293.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_19910",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "scoop(spoon, coffee_bean,cup)",
+      "move_to(spoon, cup)",
+      "pour(spoon,coffee_bean ,cup)",
+      "move_to(spoon,bowl)",
+      "place(spoon,bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "scoop(spoon, coffee_bean,cup)"
+      ],
+      "scoop(spoon, coffee_bean,cup)": [
+        "move_to(spoon, cup)"
+      ],
+      "move_to(spoon, cup)": [
+        "pour(spoon,coffee_bean ,cup)"
+      ],
+      "pour(spoon,coffee_bean ,cup)": [
+        "move_to(spoon,bowl)"
+      ],
+      "move_to(spoon,bowl)": [
+        "place(spoon,bowl)"
+      ],
+      "place(spoon,bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_19910.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_19920",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(scoop)",
+      "pick_up(scoop)",
+      "scoop(scoop, powder,bowl)",
+      "move_to(spoon, bottle)",
+      "pour(spoon,powder, bottle)",
+      "move_to(spoon,bowl)",
+      "place(spoon,bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(scoop)"
+      ],
+      "grasp(scoop)": [
+        "pick_up(scoop)"
+      ],
+      "pick_up(scoop)": [
+        "scoop(scoop, powder,bowl)"
+      ],
+      "scoop(scoop, powder,bowl)": [
+        "move_to(spoon, bottle)"
+      ],
+      "move_to(spoon, bottle)": [
+        "pour(spoon,powder, bottle)"
+      ],
+      "pour(spoon,powder, bottle)": [
+        "move_to(spoon,bowl)"
+      ],
+      "move_to(spoon,bowl)": [
+        "place(spoon,bowl)"
+      ],
+      "place(spoon,bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_19920.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_20100",
+    "actions_list": [
+      "move_to(none, dish)",
+      "grasp(dish)",
+      "pick_up(dish)",
+      "move_to(dish, bowl)",
+      "pour(dish,powder, bowl)",
+      "move_to(dish, table)",
+      "place(dish, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, dish)": [
+        "grasp(dish)"
+      ],
+      "grasp(dish)": [
+        "pick_up(dish)"
+      ],
+      "pick_up(dish)": [
+        "move_to(dish, bowl)"
+      ],
+      "move_to(dish, bowl)": [
+        "pour(dish,powder, bowl)"
+      ],
+      "pour(dish,powder, bowl)": [
+        "move_to(dish, table)"
+      ],
+      "move_to(dish, table)": [
+        "place(dish, table)"
+      ],
+      "place(dish, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_20100.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_22185",
+    "actions_list": [
+      "move_to(none, ladle)",
+      "grasp(ladle)",
+      "pick_up(ladle)",
+      "move_to(ladle, bowl)",
+      "stir(ladle,egg,bowl)",
+      "move_to(ladle, Initial_position)",
+      "place(ladle, Initial_position)"
+    ],
+    "gt_dag": {
+      "move_to(none, ladle)": [
+        "grasp(ladle)"
+      ],
+      "grasp(ladle)": [
+        "pick_up(ladle)"
+      ],
+      "pick_up(ladle)": [
+        "move_to(ladle, bowl)"
+      ],
+      "move_to(ladle, bowl)": [
+        "stir(ladle,egg,bowl)"
+      ],
+      "stir(ladle,egg,bowl)": [
+        "move_to(ladle, Initial_position)"
+      ],
+      "move_to(ladle, Initial_position)": [
+        "place(ladle, Initial_position)"
+      ],
+      "place(ladle, Initial_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_22185.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_23731",
+    "actions_list": [
+      "move_to(none, dishwashing_liquid_bottle)",
+      "grasp(dishwashing_liquid_bottle)",
+      "pick_up(dishwashing_liquid_bottle)",
+      "move_to(dishwashing_liquid_bottle, sink)",
+      "pour(dishwashing_liquid_bottle, dishwashing_liquid,sink)",
+      "place(dishwashing_liquid_bottle, table)",
+      "place(dishwashing_liquid_bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, dishwashing_liquid_bottle)": [
+        "grasp(dishwashing_liquid_bottle)"
+      ],
+      "grasp(dishwashing_liquid_bottle)": [
+        "pick_up(dishwashing_liquid_bottle)"
+      ],
+      "pick_up(dishwashing_liquid_bottle)": [
+        "move_to(dishwashing_liquid_bottle, sink)"
+      ],
+      "move_to(dishwashing_liquid_bottle, sink)": [
+        "pour(dishwashing_liquid_bottle, dishwashing_liquid,sink)"
+      ],
+      "pour(dishwashing_liquid_bottle, dishwashing_liquid,sink)": [
+        "place(dishwashing_liquid_bottle, table)"
+      ],
+      "place(dishwashing_liquid_bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_23731.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_24282",
+    "actions_list": [
+      "move_to(none, spice_jar)",
+      "grasp(spice_jar)",
+      "pick_up(spice_jar)",
+      "move_to(spice_jar, pot)",
+      "pour(spice_jar,spice, pot)",
+      "move_to(spice_jar, spice_rack)",
+      "place(spice_jar, spice_rack)"
+    ],
+    "gt_dag": {
+      "move_to(none, spice_jar)": [
+        "grasp(spice_jar)"
+      ],
+      "grasp(spice_jar)": [
+        "pick_up(spice_jar)"
+      ],
+      "pick_up(spice_jar)": [
+        "move_to(spice_jar, pot)"
+      ],
+      "move_to(spice_jar, pot)": [
+        "pour(spice_jar,spice, pot)"
+      ],
+      "pour(spice_jar,spice, pot)": [
+        "move_to(spice_jar, spice_rack)"
+      ],
+      "move_to(spice_jar, spice_rack)": [
+        "place(spice_jar, spice_rack)"
+      ],
+      "place(spice_jar, spice_rack)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_24282.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_26365",
+    "actions_list": [
+      "move_to(none, fabric_softener_bottle)",
+      "grasp(fabric_softener_bottle)",
+      "pick_up(fabric_softener_bottle)",
+      "move_to(fabric_softener_bottle, soap_chamber)",
+      "pour(fabric_softener_bottle,fabric_softener, soap_chamber)",
+      "move_to(fabric_softener_bottle, washer)",
+      "place(fabric_softener_bottle, washer)"
+    ],
+    "gt_dag": {
+      "move_to(none, fabric_softener_bottle)": [
+        "grasp(fabric_softener_bottle)"
+      ],
+      "grasp(fabric_softener_bottle)": [
+        "pick_up(fabric_softener_bottle)"
+      ],
+      "pick_up(fabric_softener_bottle)": [
+        "move_to(fabric_softener_bottle, soap_chamber)"
+      ],
+      "move_to(fabric_softener_bottle, soap_chamber)": [
+        "pour(fabric_softener_bottle,fabric_softener, soap_chamber)"
+      ],
+      "pour(fabric_softener_bottle,fabric_softener, soap_chamber)": [
+        "move_to(fabric_softener_bottle, washer)"
+      ],
+      "move_to(fabric_softener_bottle, washer)": [
+        "place(fabric_softener_bottle, washer)"
+      ],
+      "place(fabric_softener_bottle, washer)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_26365.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_28178",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, bowl)",
+      "scoop(spoon,purple_powder ,bowl)",
+      "move_to(spoon, plate)",
+      "pour(spoon,purple_powder, plate)",
+      "move_to(spoon,original_position)",
+      "place(spoon,original_position)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, bowl)"
+      ],
+      "move_to(spoon, bowl)": [
+        "scoop(spoon,purple_powder ,bowl)"
+      ],
+      "scoop(spoon,purple_powder ,bowl)": [
+        "move_to(spoon, plate)"
+      ],
+      "move_to(spoon, plate)": [
+        "pour(spoon,purple_powder, plate)"
+      ],
+      "pour(spoon,purple_powder, plate)": [
+        "move_to(spoon,original_position)"
+      ],
+      "move_to(spoon,original_position)": [
+        "place(spoon,original_position)"
+      ],
+      "place(spoon,original_position)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_28178.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30654",
+    "actions_list": [
+      "move_to(none, mug_on_the_right)",
+      "grasp(mug)",
+      "pick_up(mug)",
+      "move_to(mug, sink)",
+      "hold(mug,water_containing)",
+      "move_to(mug,left_sink_countertop)",
+      "place(mug,left_sink_countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, mug_on_the_right)": [
+        "grasp(mug)"
+      ],
+      "grasp(mug)": [
+        "pick_up(mug)"
+      ],
+      "pick_up(mug)": [
+        "move_to(mug, sink)"
+      ],
+      "move_to(mug, sink)": [
+        "hold(mug,water_containing)"
+      ],
+      "hold(mug,water_containing)": [
+        "move_to(mug,left_sink_countertop)"
+      ],
+      "move_to(mug,left_sink_countertop)": [
+        "place(mug,left_sink_countertop)"
+      ],
+      "place(mug,left_sink_countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_30654.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30749",
+    "actions_list": [
+      "move_to(none, left_cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, faucet)",
+      "hold(cup)",
+      "move_to(cup, right_sink_countertop)",
+      "place(cup, right_sink_countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, faucet)"
+      ],
+      "move_to(cup, faucet)": [
+        "hold(cup)"
+      ],
+      "hold(cup)": [
+        "move_to(cup, right_sink_countertop)"
+      ],
+      "move_to(cup, right_sink_countertop)": [
+        "place(cup, right_sink_countertop)"
+      ],
+      "place(cup, right_sink_countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_30749.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30850",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "scoop(spoon, water,cup)",
+      "move_to(spoon, table)",
+      "place(contents, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "scoop(spoon, water,cup)"
+      ],
+      "scoop(spoon, water,cup)": [
+        "move_to(spoon, table)"
+      ],
+      "move_to(spoon, table)": [
+        "place(contents, table)"
+      ],
+      "place(contents, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_30850.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_31534",
+    "actions_list": [
+      "move_to(none, detergent_bottle)",
+      "grasp(detergent_bottle)",
+      "pick_up(detergent_bottle)",
+      "move_to(detergent_bottle, washing_machine)",
+      "pour(detergent_bottle,detergent ,washing_machine)",
+      "move_to(detergent_bottle, washing_machine_top)",
+      "place(detergent_bottle, washing_machine_top)"
+    ],
+    "gt_dag": {
+      "move_to(none, detergent_bottle)": [
+        "grasp(detergent_bottle)"
+      ],
+      "grasp(detergent_bottle)": [
+        "pick_up(detergent_bottle)"
+      ],
+      "pick_up(detergent_bottle)": [
+        "move_to(detergent_bottle, washing_machine)"
+      ],
+      "move_to(detergent_bottle, washing_machine)": [
+        "pour(detergent_bottle,detergent ,washing_machine)"
+      ],
+      "pour(detergent_bottle,detergent ,washing_machine)": [
+        "move_to(detergent_bottle, washing_machine_top)"
+      ],
+      "move_to(detergent_bottle, washing_machine_top)": [
+        "place(detergent_bottle, washing_machine_top)"
+      ],
+      "place(detergent_bottle, washing_machine_top)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_31534.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_32272",
+    "actions_list": [
+      "move_to(none, red_bowl)",
+      "grasp(red_bowl)",
+      "pick_up(red_bowl)",
+      "move_to(red_bowl, yellow_bowl)",
+      "pour(red_bowl, powder,yellow_bowl)",
+      "move_to(red_bowl, dark_blue_plate)",
+      "place(red_bowl, dark_blue_plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, red_bowl)": [
+        "grasp(red_bowl)"
+      ],
+      "grasp(red_bowl)": [
+        "pick_up(red_bowl)"
+      ],
+      "pick_up(red_bowl)": [
+        "move_to(red_bowl, yellow_bowl)"
+      ],
+      "move_to(red_bowl, yellow_bowl)": [
+        "pour(red_bowl, powder,yellow_bowl)"
+      ],
+      "pour(red_bowl, powder,yellow_bowl)": [
+        "move_to(red_bowl, dark_blue_plate)"
+      ],
+      "move_to(red_bowl, dark_blue_plate)": [
+        "place(red_bowl, dark_blue_plate)"
+      ],
+      "place(red_bowl, dark_blue_plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_32272.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_41624",
+    "actions_list": [
+      "move_to(none, blue_bowl)",
+      "grasp(blue_bowl)",
+      "pick_up(blue_bowl)",
+      "move_to(blue_bowl, clear_container)",
+      "pour(blue_bowl, plastic_box)",
+      "move_to(blue_bowl, blue_cloth)",
+      "place(blue_bowl, blue_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, blue_bowl)": [
+        "grasp(blue_bowl)"
+      ],
+      "grasp(blue_bowl)": [
+        "pick_up(blue_bowl)"
+      ],
+      "pick_up(blue_bowl)": [
+        "move_to(blue_bowl, clear_container)"
+      ],
+      "move_to(blue_bowl, clear_container)": [
+        "pour(blue_bowl, plastic_box)"
+      ],
+      "pour(blue_bowl, plastic_box)": [
+        "move_to(blue_bowl, blue_cloth)"
+      ],
+      "move_to(blue_bowl, blue_cloth)": [
+        "place(blue_bowl, blue_cloth)"
+      ],
+      "place(blue_bowl, blue_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_41624.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_41790",
+    "actions_list": [
+      "move_to(none, red_bowl)",
+      "grasp(red_bowl)",
+      "pick_up(red_bowl)",
+      "move_to(red_bowl, white_bowl)",
+      "pour(red_bowl,rice, white_bowl)",
+      "move_to(red_bowl, table)",
+      "place(red_bowl, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, red_bowl)": [
+        "grasp(red_bowl)"
+      ],
+      "grasp(red_bowl)": [
+        "pick_up(red_bowl)"
+      ],
+      "pick_up(red_bowl)": [
+        "move_to(red_bowl, white_bowl)"
+      ],
+      "move_to(red_bowl, white_bowl)": [
+        "pour(red_bowl,rice, white_bowl)"
+      ],
+      "pour(red_bowl,rice, white_bowl)": [
+        "move_to(red_bowl, table)"
+      ],
+      "move_to(red_bowl, table)": [
+        "place(red_bowl, table)"
+      ],
+      "place(red_bowl, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_41790.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45392",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, plate)",
+      "pour(cup, powder,plate)",
+      "move_to(cup, table)",
+      "place(cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, plate)"
+      ],
+      "move_to(cup, plate)": [
+        "pour(cup, powder,plate)"
+      ],
+      "pour(cup, powder,plate)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_45392.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45817",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup,goblet)",
+      "pour(cup,millet,goblet)",
+      "move_to(cup, table)",
+      "place(cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup,goblet)"
+      ],
+      "move_to(cup,goblet)": [
+        "pour(cup,millet,goblet)"
+      ],
+      "pour(cup,millet,goblet)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_45817.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45821",
+    "actions_list": [
+      "move_to(none, watering_can)",
+      "grasp(watering_can)",
+      "pick_up(watering_can)",
+      "move_to(watering_can, plant)",
+      "pour(watering_can,water, plant)",
+      "move_to(watering_can, table)",
+      "place(watering_can, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, watering_can)": [
+        "grasp(watering_can)"
+      ],
+      "grasp(watering_can)": [
+        "pick_up(watering_can)"
+      ],
+      "pick_up(watering_can)": [
+        "move_to(watering_can, plant)"
+      ],
+      "move_to(watering_can, plant)": [
+        "pour(watering_can,water, plant)"
+      ],
+      "pour(watering_can,water, plant)": [
+        "move_to(watering_can, table)"
+      ],
+      "move_to(watering_can, table)": [
+        "place(watering_can, table)"
+      ],
+      "place(watering_can, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_45821.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_47097",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "scoop(scoop,flour,bowl)",
+      "move_to(spoon,tall_plastic_cup)",
+      "pour(scoop, flour,cup)",
+      "move_to(spoon, bowl)",
+      "place(spoon,bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "scoop(scoop,flour,bowl)"
+      ],
+      "scoop(scoop,flour,bowl)": [
+        "move_to(spoon,tall_plastic_cup)"
+      ],
+      "move_to(spoon,tall_plastic_cup)": [
+        "pour(scoop, flour,cup)"
+      ],
+      "pour(scoop, flour,cup)": [
+        "move_to(spoon, bowl)"
+      ],
+      "move_to(spoon, bowl)": [
+        "place(spoon,bowl)"
+      ],
+      "place(spoon,bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_47097.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_51291",
+    "actions_list": [
+      "move_to(none,jar)",
+      "grasp(jar)",
+      "pick_up(jar)",
+      "move_to(jar, running_tap)",
+      "hold(jar)",
+      "move_to(jar, Initial_position)",
+      "place(jar, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,jar)": [
+        "grasp(jar)"
+      ],
+      "grasp(jar)": [
+        "pick_up(jar)"
+      ],
+      "pick_up(jar)": [
+        "move_to(jar, running_tap)"
+      ],
+      "move_to(jar, running_tap)": [
+        "hold(jar)"
+      ],
+      "hold(jar)": [
+        "move_to(jar, Initial_position)"
+      ],
+      "move_to(jar, Initial_position)": [
+        "place(jar, table)"
+      ],
+      "place(jar, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_51291.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_53079",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, blue_bowl)",
+      "scoop(spoon,powder,blue_bowl)",
+      "move_to(spoon,cup)",
+      "pour(spoon,powder,cup)",
+      "move_to(spoon,blue_bowl)",
+      "scoop(spoon,powder,blue_bowl)",
+      "move_to(spoon,cup)",
+      "pour(spoon,powder,cup)",
+      "move_to(spoon,table)",
+      "place(spoon,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, blue_bowl)"
+      ],
+      "move_to(spoon, blue_bowl)": [
+        "scoop(spoon,powder,blue_bowl)"
+      ],
+      "scoop(spoon,powder,blue_bowl)": [
+        "move_to(spoon,cup)"
+      ],
+      "move_to(spoon,cup)": [
+        "pour(spoon,powder,cup)"
+      ],
+      "pour(spoon,powder,cup)": [
+        "move_to(spoon,blue_bowl)"
+      ],
+      "move_to(spoon,blue_bowl)": [
+        "scoop(spoon,powder,blue_bowl)<1>"
+      ],
+      "move_to(spoon,table)": [
+        "place(spoon,table)"
+      ],
+      "place(spoon,table)": [],
+      "scoop(spoon,powder,blue_bowl)<1>": [
+        "move_to(spoon,cup)<1>"
+      ],
+      "move_to(spoon,cup)<1>": [
+        "pour(spoon,powder,cup)<1>"
+      ],
+      "pour(spoon,powder,cup)<1>": [
+        "move_to(spoon,table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_53079.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_54865",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "scoop(spoon,powder,blue_bowl)",
+      "move_to,(spoon_with_cereal, white_bowl)",
+      "pour(spoon_with_cereal,powder,white_bowl)",
+      "move_to(spoon,blue_bowl)",
+      "scoop(spoon,powder,blue_bowl)",
+      "move_to,(spoon_with_cereal, white_bowl)",
+      "pour(spoon_with_cereal,powder,white_bowl)",
+      "move_to(spoon,blue_bowl)",
+      "place(spoon,blue_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "scoop(spoon,powder,blue_bowl)"
+      ],
+      "pour(spoon_with_cereal,powder,white_bowl)": [
+        "move_to(spoon,blue_bowl)"
+      ],
+      "move_to(spoon,blue_bowl)": [
+        "scoop(spoon,powder,blue_bowl)<1>"
+      ],
+      "scoop(spoon,powder,blue_bowl)": [
+        "move_to,(spoon_with_cereal, white_bowl)"
+      ],
+      "move_to,(spoon_with_cereal, white_bowl)": [
+        "pour(spoon_with_cereal,powder,white_bowl)"
+      ],
+      "place(spoon,blue_bowl)": [],
+      "scoop(spoon,powder,blue_bowl)<1>": [
+        "move_to,(spoon_with_cereal, white_bowl)<1>"
+      ],
+      "move_to,(spoon_with_cereal, white_bowl)<1>": [
+        "pour(spoon_with_cereal,powder,white_bowl)<1>"
+      ],
+      "pour(spoon_with_cereal,powder,white_bowl)<1>": [
+        "move_to(spoon,blue_bowl)<1>"
+      ],
+      "move_to(spoon,blue_bowl)<1>": [
+        "place(spoon,blue_bowl)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_54865.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_55851",
+    "actions_list": [
+      "move_to(none, jar)",
+      "grasp(jar)",
+      "pick_up(jar)",
+      "pour(jar,coffee_bean,bed)",
+      "place(jar,bed)"
+    ],
+    "gt_dag": {
+      "move_to(none, jar)": [
+        "grasp(jar)"
+      ],
+      "grasp(jar)": [
+        "pick_up(jar)"
+      ],
+      "pick_up(jar)": [
+        "pour(jar,coffee_bean,bed)"
+      ],
+      "pour(jar,coffee_bean,bed)": [
+        "place(jar,bed)"
+      ],
+      "place(jar,bed)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_55851.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_58426",
+    "actions_list": [
+      "move_to(none, jug)",
+      "grasp(jug)",
+      "pick_up(jug)",
+      "move_to(jug, tap)",
+      "hold(jug, tap)",
+      "move_to (jug, sink_countertop)",
+      "place (jug, sink_countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, jug)": [
+        "grasp(jug)"
+      ],
+      "grasp(jug)": [
+        "pick_up(jug)"
+      ],
+      "pick_up(jug)": [
+        "move_to(jug, tap)"
+      ],
+      "move_to(jug, tap)": [
+        "hold(jug, tap)"
+      ],
+      "hold(jug, tap)": [
+        "move_to (jug, sink_countertop)"
+      ],
+      "move_to (jug, sink_countertop)": [
+        "place (jug, sink_countertop)"
+      ],
+      "place (jug, sink_countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_58426.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_64942",
+    "actions_list": [
+      "move_to(none, red_bowl)",
+      "grasp(red_bowl)",
+      "pick_up(red_bowl)",
+      "move_to(red_bowl, yellow_bowl)",
+      "pour(red_bowl,white_objects, yellow_bowl)",
+      "move_to(red_bowl, table)",
+      "place(red_bowl, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, red_bowl)": [
+        "grasp(red_bowl)"
+      ],
+      "grasp(red_bowl)": [
+        "pick_up(red_bowl)"
+      ],
+      "pick_up(red_bowl)": [
+        "move_to(red_bowl, yellow_bowl)"
+      ],
+      "move_to(red_bowl, yellow_bowl)": [
+        "pour(red_bowl,white_objects, yellow_bowl)"
+      ],
+      "pour(red_bowl,white_objects, yellow_bowl)": [
+        "move_to(red_bowl, table)"
+      ],
+      "move_to(red_bowl, table)": [
+        "place(red_bowl, table)"
+      ],
+      "place(red_bowl, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_64942.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_67806",
+    "actions_list": [
+      "move_to(none, dish_soap)",
+      "grasp(dish_soap)",
+      "pick_up(dish_soap)",
+      "move_to(dish_soap _bottle,sinkl )",
+      "pour(dish_soap_bottle,dish_soap,sink )",
+      "move_to(dish_soap,sink_countertop)",
+      "place(dish_soap,sink_countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, dish_soap)": [
+        "grasp(dish_soap)"
+      ],
+      "grasp(dish_soap)": [
+        "pick_up(dish_soap)"
+      ],
+      "pick_up(dish_soap)": [
+        "move_to(dish_soap _bottle,sinkl )"
+      ],
+      "move_to(dish_soap _bottle,sinkl )": [
+        "pour(dish_soap_bottle,dish_soap,sink )"
+      ],
+      "pour(dish_soap_bottle,dish_soap,sink )": [
+        "move_to(dish_soap,sink_countertop)"
+      ],
+      "move_to(dish_soap,sink_countertop)": [
+        "place(dish_soap,sink_countertop)"
+      ],
+      "place(dish_soap,sink_countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_67806.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_shovel_ice_into_cup_episode_8",
+    "actions_list": [
+      "move_to(none,ice_scoop)",
+      "grasp(ice_scoop)",
+      "pick_up(ice_scoop)",
+      "scoop(ice_scoop,ice,box)",
+      "move_to(scoop,goblet),",
+      "pour(scoop,ice,goblet),",
+      "move_to(scoop,box)",
+      "place(scoop,box)"
+    ],
+    "gt_dag": {
+      "move_to(none,ice_scoop)": [
+        "grasp(ice_scoop)"
+      ],
+      "grasp(ice_scoop)": [
+        "pick_up(ice_scoop)"
+      ],
+      "pick_up(ice_scoop)": [
+        "scoop(ice_scoop,ice,box)"
+      ],
+      "scoop(ice_scoop,ice,box)": [
+        "move_to(scoop,goblet),"
+      ],
+      "move_to(scoop,goblet),": [
+        "pour(scoop,ice,goblet),"
+      ],
+      "pour(scoop,ice,goblet),": [
+        "move_to(scoop,box)"
+      ],
+      "move_to(scoop,box)": [
+        "place(scoop,box)"
+      ],
+      "place(scoop,box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_shovel_ice_into_cup_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_stir_liquid_inside_cup_episode_9",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(spoon_handle)",
+      "stir(spoon,liquid,cup)",
+      "place(spoon,cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "stir(spoon,liquid,cup)"
+      ],
+      "stir(spoon,liquid,cup)": [
+        "place(spoon,cup)"
+      ],
+      "place(spoon,cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_RDT-FT_imgs_1_stir_liquid_inside_cup_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_25346",
+    "actions_list": [
+      "move_to(none, broom)",
+      "grasp(broom)",
+      "pick_up(broom)",
+      "wipe(broom, dust,dustpan)",
+      "move_to(broom,table)",
+      "place(broom, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, broom)": [
+        "grasp(broom)"
+      ],
+      "grasp(broom)": [
+        "pick_up(broom)"
+      ],
+      "pick_up(broom)": [
+        "wipe(broom, dust,dustpan)"
+      ],
+      "wipe(broom, dust,dustpan)": [
+        "move_to(broom,table)"
+      ],
+      "move_to(broom,table)": [
+        "place(broom, table)"
+      ],
+      "place(broom, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_material_affordance_special_images_rtx_frames__new_85_85_droid#episode_25346.png"
+  }
+]
\ No newline at end of file
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+[
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring liquid in a glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, glass),2-grasp(glass),3-stir(glass_rod, liquid),4-place(glass_rod,cup )",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring liquid in a glass> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-stir(glass_rod, liquid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring liquid in a glass> as the goal, steps so far are shown in the video, is step 2-grasp(glass) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-80_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to pot using a ladle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, ladle),2-grasp(ladle_handle),3-pick_up(ladle),4-scoop(ladle,water, bowl_with_water),5-move_to(ladle, pot),6-pour(ladle, water,pot),7-place(ladle, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-80_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to pot using a ladle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(ladle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-80_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to pot using a ladle> as the goal, steps so far are shown in the video, is step 1-move_to(none, ladle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-92_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir liquid in a glass with a glass rod> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, glass_rod),2-grasp(glass_rod),3-stir(glass_rod, liquid,cup),4-place(glass_rod, cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-92_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir liquid in a glass with a glass rod> as the goal, steps so far are shown in the video, is step 1-move_to(none, glass_rod) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-37_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from one cup to another> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, cup_with_water),2-grasp(cup_with_water),3-pick_up(cup_with_water),4-move_to(cup_with_water, empty_cup),5-pour(cup_with_water, water,empty_cup),6-move_to(cup,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-37_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from one cup to another> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup_with_water) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-53_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from a bottle to a beaker using a dropper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,dropper),2-grasp(dropper),3-pick_up(dropper),4-move_to(dropper, bottle),5-place(dropper, bottle),6-press(dropper),7-pick_up(dropper),8-move_to(dropper, beaker),9-place(dropper, beaker)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-53_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from a bottle to a beaker using a dropper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "8-move_to(dropper, beaker)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
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+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-53_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from a bottle to a beaker using a dropper> as the goal, steps so far are shown in the video, is step 7-pick_up(dropper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-37_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from one cup to another and put the cup on the electronic scale> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, cup_with_water),2-grasp(cup_with_water),3-pick_up(cup_with_water),4-move_to(cup_with_water, empty_cup),5-pour(cup_with_water,water, empty_cup),6-move_to(big_cup, electronic_scale),7-place(big_cup,electronic_scale)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-6_task-37_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from one cup to another and put the cup on the electronic scale> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup_with_water) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-53_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from a bottle to a glass using a dropper,put the dropper on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(dropper),2-grasp(dropper, bottle),3-pick_up(dropper, bottle),4-move_to(dropper, bottle),5-scoop(dropper, liquid,glass),6-pour(liquid_in_dropper, glass),7-move_to(dropper, glass),8-place(dropper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-53_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from a bottle to a glass using a dropper,put the dropper on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-scoop(dropper, liquid, glass)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-53_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from a bottle to a glass using a dropper,put the dropper on the table> as the goal, steps so far are shown in the video, is step 3-pick_up(dropper, bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-92_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir liquid in a glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,glass_rod),2-grasp(glass_rod),3-stir(glass_rod,liquid,glass),4-place(glass_rod, glass_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-92_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir liquid in a glass> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(glass_rod)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-92_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir liquid in a glass> as the goal, steps so far are shown in the video, is step 1-move_to(none, glass_rod) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-29_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the liquid from the test tube into the beaker and place it back in the test tube rack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,test_tube),2-grasp(test_tube),3-pick_up(test_tube),4-move_to(test_tube, glass),5-pour(test_tube,liquid,beaker),6-move_to(test_tube,test_tube_rack),7-place(test_tube,test_tube_rack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-29_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the liquid from the test tube into the beaker and place it back in the test tube rack> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(test_tube)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-29_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the liquid from the test tube into the beaker and place it back in the test tube rack> as the goal, steps so far are shown in the video, is step 1-move_to(none, test_tube) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-80_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one white bowl to  a red bowl  using a spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(spoon),2-grasp(spoon_handle),3-scoop(spoon, water,white_bowl),4-pick_up(spoon),5-move_to(spoon, red_bowl),6-pour(spoon,water, red_bowl),7-place(spoon,red_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-80_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one white bowl to  a red bowl  using a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-80_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one white bowl to  a red bowl  using a spoon> as the goal, steps so far are shown in the video, is step 1-move_to(spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-50_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Transfer some liquid from the wide mouthed bottle to the beaker using a dropper and place it back into the dropper beaker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none,dropper),2-grasp(dropper),3-pick_up(dropper),4-move_to(dropper,wide_mouthed_bottle),5-place(dropper,wide_mouthed_bottle),6-press(dropper),7-pick_up(dropper),8-move_to(dropper,beaker),9-place(dropper,beaker)),10-press(dropper),11-pick_up(dropper),12-move_to(dropper,dropper_beaker),13-place(dropper,dropper_beaker)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-50_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Transfer some liquid from the wide mouthed bottle to the beaker using a dropper and place it back into the dropper beaker> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(dropper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-50_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Transfer some liquid from the wide mouthed bottle to the beaker using a dropper and place it back into the dropper beaker> as the goal, steps so far are shown in the video, is step 2-grasp(dropper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-77_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to another using a spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon, water,bowl_with_water),5-move_to(spoon, empty_bowl),6-pour(spoon, water,empty_bowl),7-place(spoon,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-77_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to another using a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-17_task-77_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to another using a spoon> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-24_task-50_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from a bottle to a small container using a dropper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(dropper),2-grasp(dropper),3-pick_up(dropper),4-move_to(dropper, bottle),5-place(dropper, bottle),6-move_to(dropper,beaker ),7-place(dropper,beaker ),8-move_to(none,Initial_Position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-24_task-50_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from a bottle to a small container using a dropper> as the goal, steps so far are shown in the video, is step 1-move_to(dropper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-35_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour water from a large cup into a small cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, large_cup),2-grasp(large_cup_edge),3-pick_up(large_cup),4-move_to(large_cup, small_cup),5-pour(large_cup,water, small_cup),6-move_to(lager_cup, original_position),7-place(lager_cup, original_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-35_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour water from a large cup into a small cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(large_cup_edge)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-46_task-35_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour water from a large cup into a small cup> as the goal, steps so far are shown in the video, is step 2-grasp(large_cup_edge) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-84_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a glass with a rod> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,glass_rod),2-grasp(glass_rod),3-stir(glass_rod,water,glass),4-place(glass_rod,glass)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-84_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a glass with a rod> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-stir(glass_rod, water, glass)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-84_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a glass with a rod> as the goal, steps so far are shown in the video, is step 1-move_to(none, glass_rod) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the spoon from the red bowl to the white bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon, white_bowl),5-place(spoon,white_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the spoon from the red bowl to the white bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the spoon from the red bowl to the white bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-85_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir water in a glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(glass_rod),2-grasp(glass_rod),3-stir(gless_rod, water,beaker),4-place(gless_rod,beaker )",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-85_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir water in a glass> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(glass_rod)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-85_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir water in a glass> as the goal, steps so far are shown in the video, is step 1-move_to(glass_rod) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-66_task-72_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from iron bowl to red bowl using a spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-scoop(spoon, liquid, iron_bowl),4-pick_up(spoon),5-move_to(spoon,red_bowl),6-pour(spoon,liquid,red_bowl),7-move_to(spoon, bowl_with_liquid),8-move_to(spoon, iron_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-66_task-72_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from iron bowl to red bowl using a spoon> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-69_task-83_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a beaker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to (spoon),2-grasp(spoon_handle),3-stir(spoon,liquid,beaker),4-place(spoon,beaker)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-36_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour liquid from left cup to right cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, left_cup),2-grasp(left_cup_edge),3-pick_up(left_cup),4-move_to(left_cup, right_cup),5-pour(left_cup,liquid,rigt_cup),6-move_to(left_cup, table),7-place(left_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-36_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour liquid from left cup to right cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_cup_edge)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-36_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour liquid from left cup to right cup> as the goal, steps so far are shown in the video, is step 2-grasp(left_cup_edge) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-73_task-50_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer liquid from  left beaker to right beaker using a dropper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, dropper),2-grasp(none, dropper),3-pick_up(dropper),4-move_to(dropper,left_beaker),5-place(dropper,left_beaker),6-press(dropper),7-pick_up(dropper_with_liquid),8-move_to(dropper,right_beaker),9-place(dropper,right_beaker),10-press(dropper)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-73_task-50_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer liquid from  left beaker to right beaker using a dropper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(none, dropper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-73_task-50_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer liquid from  left beaker to right beaker using a dropper> as the goal, steps so far are shown in the video, is step 2-grasp(none, dropper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-74_task-50_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer liquid from left beaker to right beaker using a dropper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, dropper),2-grasp(none, dropper),3-pick_up(dropper),4-move_to(dropper,left_beaker),5-place(dropper,left_beaker),6-press(dropper),7-pick_up(dropper_with_liquid),8-move_to(dropper,right_beaker),9-place(dropper,right_beaker),10-press(dropper)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-74_task-50_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer liquid from left beaker to right beaker using a dropper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(dropper, left_beaker)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-74_task-50_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer liquid from left beaker to right beaker using a dropper> as the goal, steps so far are shown in the video, is step 2-grasp(none, dropper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-78_task-87_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a beaker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon_handle),3-stir(spoon,liquid,beaker),4-place(spoon, beaker)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-78_task-87_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a beaker> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-78_task-87_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a beaker> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-83_task-78_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Use a spoon to put water from left bowl into right bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon, left_bowl),5-scoop(spoon,water,left_water),6-move_to(spoon,bowl),7-pour(spoon,water,right_bowl),8-place(spoon,right_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-83_task-78_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Use a spoon to put water from left bowl into right bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-83_task-78_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Use a spoon to put water from left bowl into right bowl> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-86_task-77_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to another using a spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon, water, bowl_with_water),5-move_to(spoon,bowl_empty),6-pour(spoon,water,bowl_empty),7-place(spoon,bowl_empty)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-86_task-77_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to another using a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-86_task-77_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from one bowl to another using a spoon> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-40_rgb_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(white_cup),2-grasp(white_cup),3-pick_up(white_cup),4-move_to(white_cup, pink_cup),5-pour(white_cup,dice, pink_cup),6-move_to(white_cup, table),7-place(white_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-40_rgb_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, steps so far are shown in the video, is step 2-grasp(white_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-108_rgb_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, white_cup),2-grasp(white_cup),3-pick_up(white_cup),4-move_to(white_cup, pink_cup),5-pour(white_cup,dice, pink_cup),6-move_to(white_cup, table),7-place(white_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-108_rgb_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-pour(white_cup, dice, pink_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-108_rgb_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, steps so far are shown in the video, is step 3-pick_up(white_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-111_rgb_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, white_cup),2-grasp(white_cup),3-pick_up(white_cup),4-move_to(white_cup,pink_cup),5-pour(white_cup, dice,pink_cup),6-move_to(white_cup, table),7-place(white_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-111_rgb_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, steps so far are shown in the video, is step 2-grasp(white_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-119_rgb_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(white_cup),2-grasp(white_cup),3-pick_up(white_cup),4-move_to(white_cup, pink_cup),5-pour(white_cup,dice, pink_cup),6-move_to(white_cup,dice, table),7-place(white_cup,dice, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-119_rgb_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, steps so far are shown in the video, is step 4-move_to(white_cup, pink_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-121_rgb_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(white_cup),2-grasp(white_cup),3-pick_up(white_cup),4-move_to(white_cup, pink_cup),5-pour(white_cup, dice,pink_cup),6-move_to(white_cup, table),7-place(white_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-121_rgb_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(white_cup, pink_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_maniwav_series-1_task-1_episode-121_rgb_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dice from white cup to pink cup> as the goal, steps so far are shown in the video, is step 4-move_to(white_cup, pink_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_23_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a small container into a mug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(container, mug)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_23_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a small container into a mug> as the goal, steps so far are shown in the video, is step 1-pick_up(container) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_13576_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a pot and place the cup on the coaster> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_13576_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a pot and place the cup on the coaster> as the goal, steps so far are shown in the video, is step 4-move_to(cup, pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15398_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a bowl into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-pour(bowl,contents, pot),5-move_to(bowl, table),6-place(bowl, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15398_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a bowl into a pot> as the goal, steps so far are shown in the video, is step 3-pick_up(bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_20209_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the cup on the right into the cup on the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, right_cup),2-grasp(right_cup),3-pick_up(right_cup),4-move_to(right_cup, left_cup),5-pour(right_cup,contents, left_cup),6-move_to(right_cup, table),7-place(right_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_20209_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the cup on the right into the cup on the left> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(right_cup, left_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_22482_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(bowl),2-grasp(bowl_edge),3-pick_up(bowl),4-move_to(bowl, pot),5-pour(bowl, content,pot),6-move_to(bowl,plate),7-place(bowl,plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_22482_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bowl_edge)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_22482_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, steps so far are shown in the video, is step 1-move_to(bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_35610_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring coffee grounds from one bowl to another> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bowl_on_the_right),2-grasp(bowl_on_the_right),3-pick_up(bowl_on_the_right),4-move_to(bowl_on_the_right,bowl_on_the_left),5-pour(bowl_on_the_right,contents, bowl_on_the_left),6-move_to(bowl_on_the_right,Initial_Position),7-place(bowl_on_the_right,Initial_Position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_35610_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring coffee grounds from one bowl to another> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bowl_on_the_right)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_35610_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring coffee grounds from one bowl to another> as the goal, steps so far are shown in the video, is step 2-grasp(bowl_on_the_right) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45938_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a mug with water and placing it beside of the sink right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(mug),2-grasp(mug_handle),3-pick_up(mug),4-move_to(mug, under_faucet),5-hold(mug),6-move_to(mug, counter_beside_the_sink_right),7-place(mug, counter_beside_the_sink_right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45938_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a mug with water and placing it beside of the sink right> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mug)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45938_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a mug with water and placing it beside of the sink right> as the goal, steps so far are shown in the video, is step 1-move_to(mug) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_65264_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a cup into the sink and placing it next to the left of sink > as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup_handle),3-pick_up(cup),4-pour(cup, water,sink),5-move_to(cup,  counter_of_sink_left),6-place(cup, counter_of_sink_left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_65264_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a cup into the sink and placing it next to the left of sink > as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pour(cup, water, sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_65264_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a cup into the sink and placing it next to the left of sink > as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_66430_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the bottom right plate into the top left plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,  bottom_right_plate),2-grasp(bottom_right_plate_edge),3-pick_up(bottom_right_plate),4-move_to(bottom_right_plate, top_left_plate),5-pour(bottom_right_plate, contents,top_left_plate),6-move_to(bottom_right_plate, table_right),7-place(bottom_right_plate, table_right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_66430_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the bottom right plate into the top left plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bottom_right_plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_66430_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the bottom right plate into the top left plate> as the goal, steps so far are shown in the video, is step 2-grasp(bottom_right_plate_edge) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_66950_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a pan on the stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pan),2-grasp(handle_of_the_spatula),3-pick_up(spatula),4-stir(spatula, liquid,pan),5-place(patula,pan )",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_66950_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a pan on the stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-stir(spatula, liquid, pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_66950_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stirring a liquid in a pan on the stove> as the goal, steps so far are shown in the video, is step 1-move_to(none, pan) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_70197_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring the contents of a cup onto a counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, counter),5-pour(cup,keys,counter),6-place(cup, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_70197_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring the contents of a cup onto a counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(cup, counter)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_70197_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring the contents of a cup onto a counter> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_70641_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jug into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, jug),2-grasp(jug_handle),3-pick_up(jug),4-move_to(jug,pot),5-pour(jug, contents,pot),6-move_to(jug, table),7-place(jug, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_70641_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jug into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(jug_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_70641_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jug into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, jug) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_83032_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the cookies from the shovel into the lunch box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, shovel ),2-grasp(shovel_handle),3-pick_up(shovel ),4-move_to(shovel, lunch_box),5-pour(shovel,cookies,lunch_box),6-move_to(shovel, table),7-place(shovel, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_83032_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the cookies from the shovel into the lunch box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(shovel, lunch_box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_83032_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the cookies from the shovel into the lunch box> as the goal, steps so far are shown in the video, is step 3-pick_up(shovel ) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-53_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Transfer the liquid from the reagent bottle to the gless using a dropper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,dropper),2-grasp(dropper),3-pick_up(dropper),4-move_to(dropper, reagent_bottle),5-place(dropper, glass_bottles),6-press(glue_heads),7-pick_up(dropper),8-move_to(dropper, beaker),9-place(dropper, beaker),10-press(glue_head)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-53_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Transfer the liquid from the reagent bottle to the gless using a dropper> as the goal, steps so far are shown in the video, is step 1-move_to(none, dropper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-80_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping water from one bowl to pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon,water,bowl),5-move_to(spoon, pot),6-pour(spoon, water, pot),7-place(spoon, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-80_episode-3_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping water from one bowl to pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-scoop(spoon, water, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-80_episode-3_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping water from one bowl to pot> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir liquid in a glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, glass_rod),2-grasp(glass_rod),3-stir(glass_rod, water, glass),4-place(glass_rod,  glass)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir liquid in a glass> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-stir(glass_rod, water, glass)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-92_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir liquid in a glass> as the goal, steps so far are shown in the video, is step 1-move_to(none, glass_rod) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-11_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, watering_can_handle),2-grasp(watering_can_handle),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can, water, plant)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-11_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant> as the goal, steps so far are shown in the video, is step 2-grasp(watering_can_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-37_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour water from one cup to another cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, cup_with_water),2-grasp(cup_with_water),3-pick_up(cup_with_water),4-move_to(cup_with_water,empty_cup),5-pour(cup_with_water, water, empty_cup),6-move_to(cup_with_water, desktop),7-place(cup_with_water)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-2_task-37_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour water from one cup to another cup> as the goal, steps so far are shown in the video, is step 3-pick_up(cup_with_water) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-53_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from one container to another using a dropper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, dropper),2-grasp(dropper),3-pick_up(dropper),4-place(dropper, white_glass_bottles),5-press(glue_heads),6-pick_up(dropper),7-move_to(dropper, empty_beaker),8-move_to(dropper, empty_beaker),9-press(glue_heads)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-53_episode-2_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from one container to another using a dropper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(dropper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-53_episode-2_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from one container to another using a dropper> as the goal, steps so far are shown in the video, is step 2-grasp(dropper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-80_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from one container to another> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon, water, Iron_pot),5-move_to(spoon, white_bowl),6-pour(spoon, water, white_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-80_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from one container to another> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-3_task-80_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring liquid from one container to another> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from a gless bowl to pot using a ladle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, ladle),2-grasp(ladle_handle),3-pick_up(ladle),4-move_to(ladle,lron_pot),5-scoop(ladle, water, lron_pot),6-move_to(ladle,  glass_bowl),7-pour(ladle, water, glass_bowl),8-move_to(ladle, Initial_position),9-place(ladle, Initial_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from a gless bowl to pot using a ladle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(ladle, lron_pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring water from a gless bowl to pot using a ladle> as the goal, steps so far are shown in the video, is step 4-move_to(ladle, lron_pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-35_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from one cup to another> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, left_goblet),2-grasp( left_goblet),3-pick_up( goblet),4-move_to( goblet, plastic_cups),5-pour(goblet, water,plastic_cups),6-move_to(goblet, plastic_cups_ahead),7-place(goblet,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-35_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from one cup to another> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp( left_goblet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-54_task-35_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from one cup to another> as the goal, steps so far are shown in the video, is step 2-grasp( left_goblet) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Putting ice into a goblet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,shovel_handle),2-grasp(shovel_handle),3-pick_up(shovel),4-move_to(shovel,goblet),5-pour(shovel,ice,goblet),6-move_to(shovel, Initial_position),7-place(shovel, Initial_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_2_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Putting ice into a goblet.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(shovel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_2_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Putting ice into a goblet.> as the goal, steps so far are shown in the video, is step 2-grasp(shovel_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_coconut_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from a measuring cup into a goblet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, black_cup),2-grasp( black_cup),3-pick_up(cup),4-move_to(cup, goblet),5-pour(black_cup,water, goblet),,6-move_to(black_cup,original_location),,7-place(black_cup,original_location),",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_coconut_episode_11_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from a measuring cup into a goblet.> as the goal, steps so far are shown in the video, is step 3-pick_up(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring juice into a goblet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, orange_juice_cup),2-grasp(orange_juice_cup),3-pick_up(orange_juice_cup),4-move_to(orange_juice_cup, goblet),5-pour(orange_juice_cup,orange_juice, goblet),6-move_to(orange_juice_cup, Initial_position),7-place(orange_juice_cup, Initial_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_0_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring juice into a goblet.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(orange_juice_cup, goblet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring juice into a goblet.> as the goal, steps so far are shown in the video, is step 2-grasp(orange_juice_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the pale yellow liquid from the yellow cup into a tall cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, yellow_cup),2-grasp(yellow_cup),3-pick_up(yellow_cup),4-move_to(yellow_cup, goblet),5-pour(yellow_cup, yellow_liquid, goblet),6-move_to(yellow_cup, Initial_position),7-place(yellow_cup, Initial_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_3_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the pale yellow liquid from the yellow cup into a tall cup.> as the goal, steps so far are shown in the video, is step 2-grasp(yellow_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_red_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring red liquid from a red cup into a glass.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,red_cup),2-grasp(red_cup),3-pick_up(red_cup),4-move_to(red_cup, goblet),5-pour(red_cup,red_liquid , goblet),,6-move_to(red_cup,Initial_position),7-place(red_cup,Initial_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_red_episode_6_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring red liquid from a red cup into a glass.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(red_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_cocktail_sunset_red_episode_6_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring red liquid from a red cup into a glass.> as the goal, steps so far are shown in the video, is step 3-pick_up(red_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pick_bottle_get_water_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Filling a water bottle from a water dispenser.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-move_to(water_bottle, water_dispenser),5-press( water_dispenser_switch),6-move_to(water_bottle, original_-position),7-place(water_bottle, original_-position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pick_bottle_get_water_episode_1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Filling a water bottle from a water dispenser.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(water_bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pick_bottle_get_water_episode_1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Filling a water bottle from a water dispenser.> as the goal, steps so far are shown in the video, is step 1-move_to(none, water_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_between_cup_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from one cup to another.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, black_cup),2-grasp(black_cup),3-pick_up(black_cup),4-move_to(black_cup, white_cup),5-pour(black_cup, water, white_cup),6-move_to(black_cup, initial_position),7-move_to(black_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_between_cup_episode_1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from one cup to another.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(black_cup, white_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_between_cup_episode_1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from one cup to another.> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_dark_meeting_room_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from a bottle into a mug.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:no_ops,right:move_to(none, bottle),2-left:no_ops,right:grasp(bottle),3-left:no_ops,right:pick_up(bottle),4-left:no_ops,right:pour(bottle, water,mug),5-left:no_ops,right:move_to(bottle, original_position),6-left:no_ops,right:place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_dark_meeting_room_episode_9_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from a bottle into a mug.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-left:no_ops, right:pick_up(bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_dark_meeting_room_episode_9_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from a bottle into a mug.> as the goal, steps so far are shown in the video, is step 5-left:no_ops, right:move_to(bottle, original_position) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_g2k_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring contents from a cup into a black kettle.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, black_kettle),5-pour(cup, water,black_kettle),6-move_to(cup,original_position),7-place(cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_g2k_episode_4_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring contents from a cup into a black kettle.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(cup, black_kettle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_g2k_episode_4_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring contents from a cup into a black kettle.> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from a jigger into a glass.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, jigger),2-grasp(jigger),3-pick_up(jigger),4-move_to(jigger, glass),5-pour(jigger, liquid,glass),6-move_to(jigger,original_position),7-place(jigger,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring liquid from a jigger into a glass.> as the goal, steps so far are shown in the video, is step 3-pick_up(jigger) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_left_hand_episode_26_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-move_to(water_bottle, mug),5-pour(water_bottle,wayer,mug),,6-move_to(water_bottle, original_position),7-place(water_bottle,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_left_hand_episode_26_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-pour(water_bottle, wayer, mug),",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_left_hand_episode_26_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug.> as the goal, steps so far are shown in the video, is step 1-move_to(none, water_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_meeting_room_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, mug),5-pour(bottle, water,mug),6-move_to(bottle, original_position),7-place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_meeting_room_episode_9_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-pour(bottle, water, mug)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_pour_water_meeting_room_episode_9_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a mug.> as the goal, steps so far are shown in the video, is step 6-move_to(bottle, original_position) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_stir_liquid_inside_cup_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stirring liquid in a cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-stir(spoon, water,cup),4-place(spoon, cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_stir_liquid_inside_cup_episode_2_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stirring liquid in a cup.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-stir(spoon, water, cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_stir_liquid_inside_cup_episode_2_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stirring liquid in a cup.> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring trail mix into a pot> as the goal, steps so far are shown in the video, is step 3-pick_up(trail_mix_jar) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_25_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant and placing a watering can on a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, watering_can),2-grasp(watering_can),3-pick_up(watering_can),4-move_to(watering_can,plant),5-pour(watering_can, water,plant),6-move_to(watering_can, pink_plate),7-place(watering_can, pink_plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_25_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant and placing a watering can on a plate> as the goal, steps so far are shown in the video, is step 3-pick_up(watering_can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_199_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant and placing a watering can on a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, watering_can),2-grasp(watering_can),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can, water,plant),6-move_to(watering_can, plate),7-place(watering_can, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring creamer into a mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(mug),2-move_to(creamer, mug),3-pour(creamer, ping_pong,mug)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_2_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring creamer into a mug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(creamer, mug)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_2_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring creamer into a mug> as the goal, steps so far are shown in the video, is step 2-move_to(creamer, mug) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_15129_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring trail mix into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, jar_of_trail_mix),2-grasp(jar_of_trail_mix),3-pick_up(jar_of_trail_mix),4-move_to(jar_of_trail_mix, pot),5-pour(jar_of_trail_mix,trail_mix, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_15129_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring trail mix into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(jar_of_trail_mix)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_15129_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring trail mix into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, jar_of_trail_mix) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_334_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring a beverage from a jar into a glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, jar),2-grasp(jar),3-pick_up(jar),4-move_to(jar,glass),5-pour(jar, juice,glass),6-move_to(jar, original_position),7-place(jar, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_334_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring a beverage from a jar into a glass> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(jar)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_334_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring a beverage from a jar into a glass> as the goal, steps so far are shown in the video, is step 3-pick_up(jar) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_902_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <mixing the contents of a bowl on a plate and returning it to the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon, left_bowl),5-scoop(spoon,coffee_bean ,left_bowl),6-move_to(spoon,right_bowl),7-pour(spoon,coffee_bean,right_bowl),8-move_to(spoon,original_position),9-place(spoon,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_902_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <mixing the contents of a bowl on a plate and returning it to the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, left_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_902_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <mixing the contents of a bowl on a plate and returning it to the table> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_1405_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a mug into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, mug),2-grasp(mug),3-pick_up(mug),4-move_to(mug, bowl),5-pour(mug, coffee_bean,bowl),6-move_to(mug, original_position),7-place(mug, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_1405_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a mug into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mug)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_1405_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a mug into a bowl> as the goal, steps so far are shown in the video, is step 3-pick_up(mug) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_1870_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring some contents from a container to a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, green_spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon, White_objects,contents_from_the_container),5-move_to(spoon_with_contents, bowl),6-pour(spoon,white_object, bowl),7-move_to(spoon,original_position),8-place(spoon,contents_from_the_container)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_2040_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the coffee beans from the plate into the coffee maker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, coffee_grinder),2-grasp(plate),3-pick_up(plate),4-move_to(plate,coffee_maker),5-pour( plate,coffee_bean,coffee_maker),6-move_to(plate,original_position),7-move_to(plate,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_2040_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the coffee beans from the plate into the coffee maker> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_2040_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the coffee beans from the plate into the coffee maker> as the goal, steps so far are shown in the video, is step 1-move_to(none, coffee_grinder) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_2831_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, bowl),5-scoop(spoon,coffee_bean, bowl),6-move_to(spoon, black_pot),7-turn(spoon,coffee_bean,black_pot),8-move_to(spoon, original_position),9-place(spoon,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_2831_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-scoop(spoon, coffee_bean, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_2831_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a pot> as the goal, steps so far are shown in the video, is step 5-scoop(spoon, coffee_bean, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5056_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup onto a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, orange_cup),2-grasp(orange_cup),3-pick_up(orange_cup),4-move_to(orange_cup, grey_plate),5-pour(orange_cup,object, grey_plate),6-move_to(orange_cup, original_position),7-place(orange_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5056_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup onto a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(orange_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5056_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup onto a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, orange_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5486_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the bottle into the cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle,liquid, cup),6-move_to(bottle, original_position),7-place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5486_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the bottle into the cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(bottle, cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5486_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the bottle into the cup> as the goal, steps so far are shown in the video, is step 2-grasp(bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5629_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the black powder into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, cup),5-pour(bowl,black_powder, cup),6-move_to(bowl, odiginal_position),7-place(bowl, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5629_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the black powder into a cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5673_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, bowl),5-pour(cup, water,bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5673_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_5673_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a bowl> as the goal, steps so far are shown in the video, is step 2-grasp(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6132_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring milk into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, milk_carton),2-grasp(milk_carton),3-pick_up(milk_carton),4-move_to(milk_carton,bowl),5-pour(milk_carton,milk, bowl),6-move_to(milk_carton, original_position),7-place(milk_carton, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6132_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring milk into a bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, milk_carton) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6472_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the coffee beans from the cup into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, bowl),5-pour(cup,coffee_bean, bowl),6-move_to(cup,table),7-move_to(cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6472_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the coffee beans from the cup into a bowl> as the goal, steps so far are shown in the video, is step 4-move_to(cup, bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6966_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, green_cup),2-grasp(green_cup),3-pick_up(green_cup),4-move_to(green_cup, cream_white_plate),5-pour(green_cup,french_fries,cream_white_plate),6-move_to(green_cup, original_position),7-place(green_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6966_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(green_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_6966_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a plate> as the goal, steps so far are shown in the video, is step 2-grasp(green_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_7439_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the fries from the blue cup onto a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, blue_cup),2-grasp(blue_cup),3-pick_up(blue_cup),4-move_to(blue_cup, plate),5-pour(blue_cup, fries,green_plate),6-move_to(blue_cup, original_position),7-place(blue_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_7439_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the fries from the blue cup onto a plate> as the goal, steps so far are shown in the video, is step 2-grasp(blue_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_7958_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a spoonful of material from a bowl to a jug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, bowl_and_the_spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon,coffee_bean ,bowl),5-move_to(spoon_with_the_contents,cup),6-pour(spoon,coffee_bean,cup),7-move_to(spoon,original_position),8-place(spoon,original_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_7958_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a spoonful of material from a bowl to a jug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_7958_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a spoonful of material from a bowl to a jug> as the goal, steps so far are shown in the video, is step 1-move_to(none, bowl_and_the_spoon_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_8171_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping powder from a bowl and pouring it into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none,cup_handle),2-grasp(cup_handle),3-pick_up(cup),4-scoop(cup, powder,bowl),5-move_to(cup,jar),6-pour(cup,powder, jar),7-move_to(cup,original_position),8-move_to(cup,bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_8171_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping powder from a bowl and pouring it into a cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_9078_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <adding spices to a pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, spice_jar),2-grasp(spice_jar),3-pick_up(spice_jar),4-move_to(spice_jar, pan),5-pour(spice_jar,spice, pan),6-move_to(spice_jar, shelf),7-place(spice_jar, shelf)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_9510_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a mug and placing it next to the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, mug),2-grasp(mug),3-pick_up(mug),4-move_to(mug, sink),5-pour(mug, water,sink),6-move_to(mug, left_side_of_the_sink),7-place(mug, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_9510_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a mug and placing it next to the sink> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mug)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_9510_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a mug and placing it next to the sink> as the goal, steps so far are shown in the video, is step 2-grasp(mug) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_10026_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a portion of material from a bowl to a crate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handlel),3-pick_up(spoon_handlel),4-scoop(spoon, material,material_from_the_bowl),5-move_to(spoon, crate),6-pour(spoon,material, crate),7-move_to(spoon,original_position),8-place(spoon,bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_10026_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a portion of material from a bowl to a crate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(spoon_handlel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_10026_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a portion of material from a bowl to a crate> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handlel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_10519_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer some contents from a bowl into a jug using a spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon, bowl),5-scoop(spoon,coffee_bean, bowl),6-move_to(spoon, jug),7-pour(spoon, coffee_bean,jug),8-move_to( spoon,original_position),9-place( spoon,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_10519_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer some contents from a bowl into a jug using a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_10519_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer some contents from a bowl into a jug using a spoon> as the goal, steps so far are shown in the video, is step 4-move_to(spoon, bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_11803_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, bowl),5-pour(cup,water, bowl),6-move_to(cup, table),7-place(cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_11803_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(cup, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_11803_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup into a bowl> as the goal, steps so far are shown in the video, is step 2-grasp(cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_12254_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a clear jug into a black pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, black_pot),5-pour(cup,powder, black_pot),6-move_to(cup, table),7-place(cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_12254_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a clear jug into a black pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-pour(cup, powder, black_pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_12254_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a clear jug into a black pot> as the goal, steps so far are shown in the video, is step 3-pick_up(cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_13023_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from one bowl to another> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, middle_bowl),2-grasp(middle_bowl),3-pick_up(middle_bowl),4-move_to(middle_bowl, left_bowl),5-pour(middle_bowl,water, left_bowl),6-move_to(middle_bowl, original_position),7-place(middle_bowl, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_13023_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from one bowl to another> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(middle_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_13023_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from one bowl to another> as the goal, steps so far are shown in the video, is step 4-move_to(middle_bowl, left_bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15274_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring spices into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, spice_bottle),2-grasp(spice_bottle),3-pick_up(spice_bottle),4-move_to(spice_bottle, bowl),5-pour(spice_bottle, spice,bowl),6-move_to(spice_bottle, table),7-place(spice_bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15274_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring spices into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spice_bottle, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15274_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring spices into a bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, spice_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15612_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a cup into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-pour(cup,water, sink),5-move_to(cup, original_position),6-place(cup, sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15612_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a cup into the sink> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pour(cup, water, sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15612_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a cup into the sink> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15737_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep things on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, broom),2-grasp(broom),3-pick_up(broom),4-move_to(broom,white_powder),5-wipe(broom,white_powder,table),6-move_to(broom,table),7-place(broom,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15737_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep things on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, broom) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15946_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the things from the right bowl into the lefft bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon, right_bowl),5-scoop(spoon,powder,right_bowl),6-move_to(spoon, left_bowl),7-pour(spoon,powder,left_bowl),8-move_to(spoon,original_position),9-place(spoon,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15946_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the things from the right bowl into the lefft bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, right_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_15946_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the things from the right bowl into the lefft bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_18293_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the yellow object from the goblet into the plastic cup and place it back in place> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, goblet),2-grasp(goblet),3-pick_up(goblet),4-pour(goblet,yellow_object, plastic_cup),5-move_to(goble, original_position),6-place(goblet,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_18293_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the yellow object from the goblet into the plastic cup and place it back in place> as the goal, steps so far are shown in the video, is step 1-move_to(none, goblet) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_19910_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping contents from a bowl and pouring them into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon, coffee_bean,cup),5-move_to(spoon, cup),6-pour(spoon,coffee_bean ,cup),7-move_to(spoon,bowl),8-place(spoon,bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_19910_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping contents from a bowl and pouring them into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_19910_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping contents from a bowl and pouring them into a cup> as the goal, steps so far are shown in the video, is step 2-grasp(spoon_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_19920_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the powder from the bowl into a plastic bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(scoop),3-pick_up(scoop),4-scoop(scoop, powder,bowl),5-move_to(spoon, bottle),6-pour(spoon,powder, bottle),7-move_to(spoon,bowl),8-place(spoon,bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_19920_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the powder from the bowl into a plastic bottle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(scoop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_19920_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the powder from the bowl into a plastic bottle> as the goal, steps so far are shown in the video, is step 4-scoop(scoop, powder, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_20100_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring powder from a dish into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, dish),2-grasp(dish),3-pick_up(dish),4-move_to(dish, bowl),5-pour(dish,powder, bowl),6-move_to(dish, table),7-place(dish, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_20100_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring powder from a dish into a bowl> as the goal, steps so far are shown in the video, is step 4-move_to(dish, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_22185_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir things in a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, ladle),2-grasp(ladle),3-pick_up(ladle),4-move_to(ladle, bowl),5-stir(ladle,egg,bowl),6-move_to(ladle, Initial_position),7-place(ladle, Initial_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_22185_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir things in a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(ladle, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_22185_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir things in a bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, ladle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_23731_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dishwashing liquid into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, dishwashing_liquid_bottle),2-grasp(dishwashing_liquid_bottle),3-pick_up(dishwashing_liquid_bottle),4-move_to(dishwashing_liquid_bottle, sink),5-pour(dishwashing_liquid_bottle, dishwashing_liquid,sink),6-move_to(dishwashing_liquid_bottle, table),7-place(dishwashing_liquid_bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_23731_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dishwashing liquid into the sink> as the goal, steps so far are shown in the video, is step 2-grasp(dishwashing_liquid_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_24282_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring spices into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, spice_jar),2-grasp(spice_jar),3-pick_up(spice_jar),4-move_to(spice_jar, pot),5-pour(spice_jar,spice, pot),6-move_to(spice_jar, spice_rack),7-place(spice_jar, spice_rack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_24282_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring spices into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spice_jar)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_24282_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring spices into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, spice_jar) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_26365_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring fabric softener into a washing machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, fabric_softener_bottle),2-grasp(fabric_softener_bottle),3-pick_up(fabric_softener_bottle),4-move_to(fabric_softener_bottle, soap_chamber),5-pour(fabric_softener_bottle,fabric_softener, soap_chamber),6-move_to(fabric_softener_bottle, washer),7-place(fabric_softener_bottle, washer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_26365_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring fabric softener into a washing machine> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(fabric_softener_bottle, soap_chamber)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_26365_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring fabric softener into a washing machine> as the goal, steps so far are shown in the video, is step 3-pick_up(fabric_softener_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_28178_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from a bowl to a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, bowl),5-scoop(spoon,purple_powder ,bowl),6-move_to(spoon, plate),7-pour(spoon,purple_powder, plate),8-move_to(spoon,original_position),9-place(spoon,original_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30654_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fill a mug with water and place it next to another mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, mug_on_the_right),2-grasp(mug),3-pick_up(mug),4-move_to(mug, sink),5-hold(mug,water_containing),6-move_to(mug,left_sink_countertop),7-place(mug,left_sink_countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30654_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fill a mug with water and place it next to another mug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mug)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30654_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fill a mug with water and place it next to another mug> as the goal, steps so far are shown in the video, is step 1-move_to(none, mug_on_the_right) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30749_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fill a cup with water and move it to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, left_cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, faucet),5-hold(cup),6-move_to(cup, right_sink_countertop),7-place(cup, right_sink_countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30749_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <fill a cup with water and move it to the right> as the goal, steps so far are shown in the video, is step 2-grasp(cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30850_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping contents from a cup and placing them on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon,cup),5-scoop(spoon, water,cup),6-move_to(spoon, table),7-place(spoon, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30850_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping contents from a cup and placing them on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_30850_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <scooping contents from a cup and placing them on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_31534_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring detergent into a washing machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, detergent_bottle),2-grasp(detergent_bottle),3-pick_up(detergent_bottle),4-move_to(detergent_bottle, washing_machine),5-pour(detergent_bottle,detergent ,washing_machine),6-move_to(detergent_bottle, washing_machine_top),7-place(detergent_bottle, washing_machine_top)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_31534_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring detergent into a washing machine> as the goal, steps so far are shown in the video, is step 4-move_to(detergent_bottle, washing_machine) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_32272_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from red bowl to another and  placing the empty bowl on a blue plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, red_bowl),2-grasp(red_bowl),3-pick_up(red_bowl),4-move_to(red_bowl, yellow_bowl),5-pour(red_bowl, powder,yellow_bowl),6-move_to(red_bowl, dark_blue_plate),7-place(red_bowl, dark_blue_plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_32272_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring contents from red bowl to another and  placing the empty bowl on a blue plate> as the goal, steps so far are shown in the video, is step 3-pick_up(red_bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_41624_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the powder from the bowl into a plastic box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, blue_bowl),2-grasp(blue_bowl),3-pick_up(blue_bowl),4-move_to(blue_bowl, clear_container),5-pour(blue_bowl, plastic_box),6-move_to(blue_bowl, blue_cloth),7-place(blue_bowl, blue_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_41624_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the powder from the bowl into a plastic box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(blue_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_41624_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the powder from the bowl into a plastic box> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_41790_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour rice from one bowl to another> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, red_bowl),2-grasp(red_bowl),3-pick_up(red_bowl),4-move_to(red_bowl, white_bowl),5-pour(red_bowl,rice, white_bowl),6-move_to(red_bowl, table),7-place(red_bowl, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_41790_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour rice from one bowl to another> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(red_bowl, white_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_41790_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour rice from one bowl to another> as the goal, steps so far are shown in the video, is step 1-move_to(none, red_bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45392_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup onto a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, plate),5-pour(cup, powder,plate),6-move_to(cup, table),7-place(cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45392_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup onto a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45392_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a cup onto a plate> as the goal, steps so far are shown in the video, is step 3-pick_up(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45817_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the millet from the bowl into a goblet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup,goblet),5-pour(cup,millet,goblet),6-move_to(cup, table),7-place(cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45817_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the millet from the bowl into a goblet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45817_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the millet from the bowl into a goblet> as the goal, steps so far are shown in the video, is step 3-pick_up(cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_45821_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, watering_can),2-grasp(watering_can),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can,water, plant),6-move_to(watering_can, table),7-place(watering_can, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_47097_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the flour from the bowl into a tall plastic cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(scoop,flour,bowl),5-move_to(spoon,tall_plastic_cup),6-pour(scoop, flour,cup),7-move_to(spoon, bowl),8-place(spoon,bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_47097_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the flour from the bowl into a tall plastic cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-scoop(scoop, flour, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_47097_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scoop the flour from the bowl into a tall plastic cup> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_51291_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a jar with water from a tap and placing it on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,jar),2-grasp(jar),3-pick_up(jar),4-move_to(jar, running_tap),5-hold(jar),6-move_to(jar, Initial_position),7-place(jar, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_51291_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a jar with water from a tap and placing it on the counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(jar, running_tap)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_51291_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a jar with water from a tap and placing it on the counter> as the goal, steps so far are shown in the video, is step 3-pick_up(jar) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_53079_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a substance from a bowl to a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, blue_bowl),5-scoop(spoon,powder,blue_bowl),6-move_to(spoon,cup),7-pour(spoon,powder,cup),8-move_to(spoon,blue_bowl),9-scoop(spoon,powder,blue_bowl),10-move_to(spoon,cup),11-pour(spoon,powder,cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_53079_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a substance from a bowl to a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_53079_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a substance from a bowl to a cup> as the goal, steps so far are shown in the video, is step 4-move_to(spoon, blue_bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_54865_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring cereal from one bowl to another> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon),3-pick_up(spoon),4-scoop(spoon,powder,blue_bowl),5-move_to(spoon_with_cereal, white_bowl),6-pour(spoon_with_cereal,powder,white_bowl),7-move_to(spoon,blue_bowl),8-scoop(spoon,powder,blue_bowl),9-move_to(spoon_with_cereal, white_bowl),10-pour(spoon_with_cereal,powder,white_bowl),11-move_to(spoon,blue_bowl),12-place(spoon,blue_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_54865_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring cereal from one bowl to another> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_54865_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring cereal from one bowl to another> as the goal, steps so far are shown in the video, is step 5-move_to(spoon_with_cereal, white_bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_55851_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jar onto a bed> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, jar),2-grasp(jar),3-pick_up(jar),4-pour(jar,coffee_bean,bed),5-place(jar,bed)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_55851_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jar onto a bed> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pour(jar, coffee_bean, bed)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_55851_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jar onto a bed> as the goal, steps so far are shown in the video, is step 3-pick_up(jar) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_58426_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a jug with water from the tap> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, jug),2-grasp(jug),3-pick_up(jug),4-move_to(jug, tap),5-hold(jug, tap),6-move_to(jug, sink_countertop),7-place(jug, sink_countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_64942_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from one bowl to another> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, red_bowl),2-grasp(red_bowl),3-pick_up(red_bowl),4-move_to(red_bowl, yellow_bowl),5-pour(red_bowl,white_objects, yellow_bowl),6-move_to(red_bowl, table),7-place(red_bowl, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_64942_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from one bowl to another> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-pour(red_bowl, white_objects, yellow_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_64942_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from one bowl to another> as the goal, steps so far are shown in the video, is step 2-grasp(red_bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_67806_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dish soap into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, dish_soap),2-grasp(dish_soap),3-pick_up(dish_soap),4-move_to(dish_soap _bottle,sinkl ),5-pour(dish_soap_bottle,dish_soap,sink ),6-move_to(dish_soap,sink_countertop),7-place(dish_soap,sink_countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_67806_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dish soap into the sink> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(dish_soap _bottle, sinkl )",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_67806_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring dish soap into the sink> as the goal, steps so far are shown in the video, is step 1-move_to(none, dish_soap) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_shovel_ice_into_cup_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scooping ice cubes from a container.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none,ice_scoop),2-grasp(ice_scoop),3-pick_up(ice_scoop),4-scoop(ice_scoop,ice,box),5-move_to(ice_scoop,goblet),6-pour(ice_scoop,ice,goblet),7-move_to(ice_scoop,box),8-place(ice_scoop,box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_shovel_ice_into_cup_episode_8_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scooping ice cubes from a container.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(ice_scoop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_shovel_ice_into_cup_episode_8_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Scooping ice cubes from a container.> as the goal, steps so far are shown in the video, is step 2-grasp(ice_scoop) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_stir_liquid_inside_cup_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stirring liquid in a cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-stir(spoon,liquid,cup),4-place(spoon,cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_stir_liquid_inside_cup_episode_9_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stirring liquid in a cup.> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/RDT-FT_imgs_1_stir_liquid_inside_cup_episode_9_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stirring liquid in a cup.> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_25346_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sweeping dirt into a dustpan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, broom),2-grasp(broom),3-pick_up(broom),4-wipe(broom, dust,dustpan),5-move_to(broom,table),6-place(broom, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/material_affordance/special/images/rtx_frames__new_85_85_droid#episode_25346_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "material_affordance",
+      "special"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sweeping dirt into a dustpan> as the goal, steps so far are shown in the video, is step 2-grasp(broom) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  }
+]
\ No newline at end of file
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..05c2ead2ad300d57776f539fb9a2c80ad4582e61
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+      "pick_up(3)",
+      "turn(3,down,state_of_down)",
+      "move_to(3,4)",
+      "stir(3,water,4)",
+      "move_to(3,7)",
+      "place(3,7)"
+    ],
+    "gt_dag": {
+      "move_to(none,5)": [
+        "grasp(5)"
+      ],
+      "grasp(5)": [
+        "pick_up(5)"
+      ],
+      "pick_up(5)": [
+        "move_to(5,4)"
+      ],
+      "move_to(5,4)": [
+        "pour(5,water,4)"
+      ],
+      "pour(5,water,4)": [
+        "move_to(5,7)"
+      ],
+      "move_to(5,7)": [
+        "place(5,7)"
+      ],
+      "place(5,7)": [],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "turn(3,down,state_of_down)"
+      ],
+      "turn(3,down,state_of_down)": [
+        "move_to(3,4)"
+      ],
+      "move_to(3,4)": [
+        "stir(3,water,4)"
+      ],
+      "stir(3,water,4)": [
+        "move_to(3,7)"
+      ],
+      "move_to(3,7)": [
+        "place(3,7)"
+      ],
+      "place(3,7)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_color_images_rtx_frames__new_85_85_droid#episode_70794.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_85805",
+    "actions_list": [
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,4)",
+      "place(2,4)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "push(3,drawer_close)"
+    ],
+    "gt_dag": {
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,4)"
+      ],
+      "move_to(2,4)": [
+        "place(2,4)"
+      ],
+      "place(2,4)": [],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "push(3,drawer_close)"
+      ],
+      "push(3,drawer_close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_color_images_rtx_frames__new_85_85_droid#episode_85805.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_90414",
+    "actions_list": [
+      "move_to(none,5)",
+      "grasp(5)",
+      "pick_up(5)",
+      "turn(5,clockwise,transverse)",
+      "move_to(5,10)",
+      "place(5,10)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "turn(3,clockwise,transverse)",
+      "move_to(3,11)",
+      "place(3,11)"
+    ],
+    "gt_dag": {
+      "move_to(none,5)": [
+        "grasp(5)"
+      ],
+      "grasp(5)": [
+        "pick_up(5)"
+      ],
+      "pick_up(5)": [
+        "turn(5,clockwise,transverse)"
+      ],
+      "turn(5,clockwise,transverse)": [
+        "move_to(5,10)"
+      ],
+      "move_to(5,10)": [
+        "place(5,10)"
+      ],
+      "place(5,10)": [],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "turn(3,clockwise,transverse)"
+      ],
+      "turn(3,clockwise,transverse)": [
+        "move_to(3,11)"
+      ],
+      "move_to(3,11)": [
+        "place(3,11)"
+      ],
+      "place(3,11)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_color_images_rtx_frames__new_85_85_droid#episode_90414.png"
+  }
+]
\ No newline at end of file
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+[
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_train_1011_181156_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a yellow_block onto a purple_block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 6),5-place(3,6)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_train_1011_181156.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_train_1011_172054_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a yellow cube on a purple cube> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2, 1),5-place(2,1)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_train_1011_172054.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_val_1011_175539_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stack a yellow cube on a purple cube> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp(6),3-pick_up(6),4-move_to(6,1),5-place(6,1)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_val_1011_175539.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_block_1_train_0923_180340_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a blue block into a blue plate,placing a purple block into a purple plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-place(2,1),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,4),10-place(3,4)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_1_train_0923_180340.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_block_1_train_0923_175611_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a purple block into a purple plate,placing a blue block into a blue plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-place(2,1),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,4),10-place(3,4)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_1_train_0923_175611.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_163957_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a blue block into a pink plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,6),5-place(5,6)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_163957.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_val_1014_162633_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a blue block into a pink plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,7),2-grasp(7),3-pick_up(7),4-move_to(7,8),5-place(7,8)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_val_1014_162633.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_183333_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing  all orange blocks into  a blue plate, all yellow tennis_balls into purple plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 18 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-place(2,1),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,1),10-place(3,1),11-move_to(none,4),12-grasp(4),13-pick_up(4),14-move_to(4,6),15-place(4,6),16-move_to(none,5),17-grasp(5),18-pick_up(5),19-move_to(5,6),20-place(5,6)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_183333.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_193318_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing all orange blocks into  a blue plate, all yellow tennis balls  into purple plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,6),5-place(3,6),6-move_to(none,4),7-grasp(4),8-pick_up(4),9-move_to(4,6),10-place(4,6),11-move_to(none,5),12-grasp(5),13-pick_up(5),14-move_to(5,1),15-place(5,1),16-move_to(none,2),17-grasp(2),18-pick_up(2),19-move_to(2,1),20-place(2,1)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_193318.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_bread_in_basket_val_1012_152029_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing orange food into a white box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp(6),3-pick_up(6),4-move_to(6,8),5-place(6,8)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_bread_in_basket_val_1012_152029.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_bread_in_basket_train_1016_134829_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a orange into a brown> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,9),2-grasp(9),3-pick_up(9),4-move_to(9,12),5-place(9,12)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_bread_in_basket_train_1016_134829.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_bread_in_plate_train_1014_135648_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing orange food onto a pink plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,4),5-place(3,4)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_bread_in_plate_train_1014_135648.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_bread_in_plate_val_1014_102217_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing orange food onto a pink plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none,9),2-grasp(9),3-pick up(9),4-move_to(9,7),5-place(9,7)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_bread_in_plate_val_1014_102217.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_114651_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing  white object into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4),4-move_to(4, 5),5-place(4, 5)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_114651.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_115647_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing  white object into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, 6),5-place(3, 6)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_115647.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_115204_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing  white object into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 4),5-place(3, 4)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_115204.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_toy_train_1014_183255_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a black and white toy in a brown drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,toy_animal),2-grasp(toy_animal),3-pick_up(toy_animal, drawer),4-move_to(toy_animal, drawer),5-place(toy_animal, drawer)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_toy_train_1014_183255.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_toy_train_1014_183604_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a black and white toy in a brown drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, 1),5-place(3, 1)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_toy_train_1014_183604.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_val_1011_174055_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a yellow block on the plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-place(2, 10)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_val_1011_174055.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_val_1011_163606_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up the yellow block on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(13),4-place(3, 13)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_val_1011_163606.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_172741_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a yellow block  on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2),4-move_to(2, 11),5-place(2, 11)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_172741.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_bread_in_basket_1_val_1014_142240_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing orange  food into a orange basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp( 1),3-pick_up(1),4-move_to(1, 6),5-place(1, 6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_bread_in_basket_1_val_1014_142240.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_bread_in_basket_1_val_1014_135950_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing orange food  into a orange basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2, 6),5-place(2, 6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_bread_in_basket_1_val_1014_135950.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_bread_in_basket_old_train_1014_184220_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing  white food onto a orange basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4),4-move_to(4, 7),5-place(4, 7)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_bread_in_basket_old_train_1014_184220.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_bread_on_table_val_1014_140140_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing orange food on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4, 6),5-place(4, 6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_bread_on_table_val_1014_140140.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_banana_train_1017_163854_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up yellow fruit> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6),4-move_to(6,10)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_banana_train_1017_163854.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_banana_train_1017_173611_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up yellow fruit> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_banana_train_1017_173611.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_104200_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up yellow food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-place( lid,9),2-move_to(none, 5),3-grasp(5),4-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_104200.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_105407_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing yellow food into a pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-place( lid,8),2-move_to(none, 5),3-grasp(5),4-pick_up(5),5-move_to(5,3),6-place(5,3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_105407.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_can_val_1022_142109_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up red> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4),4-move_to(4, 2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_can_val_1022_142109.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_can_val_1022_141837_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up red object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_can_val_1022_141837.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_can_val_1022_143326_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up red object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_can_val_1022_143326.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_donut_train_1016_181938_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up orange food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_donut_train_1016_181938.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_donut_train_1021_111952_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up orange  food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_donut_train_1021_111952.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1016_154624_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up green vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1016_154624.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1018_141109_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a green  vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1018_141109.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_green_pepper_val_1018_112652_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a green vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_green_pepper_val_1018_112652.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_green_onion_val_1017_161109_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up  green vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_green_onion_val_1017_161109.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_val_1022_102028_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a black fruit> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 7),2-grasp(7),3-pick_up(7)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_val_1022_102028.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1022_101248_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up black fruit> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1022_101248.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1022_100801_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a black fruit> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1022_100801.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_pear_val_1021_171817_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up an white fruit> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pear_val_1021_171817.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_pear_train_1021_174544_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a white fruit> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pear_train_1021_174544.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_pear_val_1021_174156_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up an white fruit> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pear_val_1021_174156.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_152450_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a green bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_152450.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_val_1022_145342_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a green bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 9),2-grasp(9),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_val_1022_145342.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_145036_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a  blue bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 12),2-grasp(12),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_145036.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_165035_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a blue pot lid handle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_165035.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_180848_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a blue pot lid handle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(9)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_180848.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1017_145412_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a blue pot lid handle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,7),2-grasp(7),3-pick_up(7)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1017_145412.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1016_162833_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a red vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1016_162833.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_val_1016_162730_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a red vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 7),2-grasp(7),3-pick_up(7)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_val_1016_162730.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1016_160651_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a red vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,3 ),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1016_160651.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_180908_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a white food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_180908.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_180435_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a orange food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_180435.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1023_110405_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a orange food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1023_110405.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1023_103746_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a white food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1023_103746.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_toast_train_1017_141650_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a brown food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_toast_train_1017_141650.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_165908_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a brown food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_165908.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_toast_train_1017_142657_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a brown food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,9),2-grasp(9),3-pick_up(9)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_toast_train_1017_142657.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_161024_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up orange food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_161024.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_val_1016_172432_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a orange food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_val_1016_172432.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_154627_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a orange food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,7),2-pick_up(7),3-pick_up(7)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_154627.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_180445_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a yellow vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_180445.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1016_144342_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a yellow vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-place(lid,table),2-move_to(none,5),3-grasp(5),4-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1016_144342.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_val_1016_143948_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a yellow vegetable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_val_1016_143948.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_val_1017_174225_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a yellow fruit into drawers> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(banana),2-move_to(banana,1),3-place(banana,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_val_1017_174225.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_val_1017_165110_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a yellow fruit into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(banana),2-move_to(banana,1),3-place(banana,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_val_1017_165110.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_bread_in_pot_val_1016_140816_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white food into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(bread),2-move_to(bread,2),3-place(bread,2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_in_pot_val_1016_140816.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_103428_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a orange food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(5),2-move_to(5,2),3-place(5,2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_103428.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_143729_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a orange food into a white drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(4),2-move_to(4,1),3-place(4,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_143729.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_143606_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a red object into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(5),2-move_to(5, 1),3-place(5,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_143606.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_green_onion_in_pot_val_1017_153620_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a green vegetable into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(3),2-move_to(3,8),3-place(3,8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_green_onion_in_pot_val_1017_153620.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_green_pepper_in_pot_val_1016_152303_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a green vegetable into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(8),2-move_to(8,2),3-place(8,2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_green_pepper_in_pot_val_1016_152303.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_142534_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a golden food in a white drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(8),2-move_to(8,2),3-place(8,2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_142534.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_long_bread_in_pot_train_1017_134854_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a orange food into a black> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(carrot),2-move_to(carrot,4),3-place(carrot,4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_long_bread_in_pot_train_1017_134854.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_red_pepper_on_table_train_1014_142707_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a red vegetable into table,pick up green onto basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,6),5-place(5,6),6-move_to(none, 5),7-grasp(5),8-pick_up(5),9-move_to(5,6),10-place(5,6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_red_pepper_on_table_train_1014_142707.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_val_1021_171508_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing an white fruit into a white drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(7),2-move_to(7,1),3-place(7,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_val_1021_171508.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_val_1021_171552_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing an white fruit in a white drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(7),2-move_to(7,1),3-place(7,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_val_1021_171552.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112243_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a white object into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(2),2-move_to(2,1),3-place(2,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112243.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_square_bread_in_trash_can_train_1023_110419_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a loaf of white food in the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(2),2-move_to(2,1),3-place(2,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_square_bread_in_trash_can_train_1023_110419.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/benchmark1_h5_ur_1rgb_put_square_bread_in_top_white_drawer_val_1021_101941_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the white food into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(none,5),2-move_to(5,1),3-place(5,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_square_bread_in_top_white_drawer_val_1021_101941.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/RDT-FT_imgs_1_cocktail_sunset_coconut_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the black glass and pour the liquid into the goblet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,1),5-pour(3,8,1),6-move_to(3,8),7-place(3,8)",
+    "image_urls": [
+      "RDT-FT_imgs_1_cocktail_sunset_coconut_episode_9.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_25865_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the green fruit from the basket and place onto the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp[(3),3-pick_up(3),4-move_to(3,1),5-place(3,1)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_25865.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-64_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stacking yellow on a white baseplate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2, 11),5-place( 2,11)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-64_episode-3_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-89_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a orange button onto a shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,2),5-place(1, 2)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-89_episode-2_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-46_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a light green plate from a plate rack and  place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,3),5-place(1,3)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-71_task-46_episode-1_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/DSL_shrinked_pour_water_episode_889_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the liquid from the green bottle into the cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,4),5-pour(2,liquid,4),6-move_to(2,1),7-place(2,1)",
+    "image_urls": [
+      "DSL_shrinked_pour_water_episode_889.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_12091_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a green  vegetable at the front right corner of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,6),5-place(1,6)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_3_49_bridge#episode_12091.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14031_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the red food to the left of the blue tableware> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,5),5-place(2,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_5_49_bridge#episode_14031.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14143_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <moving a red food from a bowl onto a blue cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,4),5-place(2,4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_5_49_bridge#episode_14143.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_2337_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Take the greens vegetable out of the bowl and put them on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_yo(4,9),5-place(4,9)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_11_49_bridge#episode_2337.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24944_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a green vegetable on the stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,4),5-place(2,4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_12_49_bridge#episode_24944.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_3327_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a orange vegetable into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,4),5-place(1,4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_13_49_bridge#episode_3327.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_6903_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red object  into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,1),5-place(4,1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_16_49_bridge#episode_6903.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7445_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Stand the red bottle upright> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-turn(2,clockwise,stand),5-place(2,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_16_49_bridge#episode_7445.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9890_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a orange vegetable from a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,2),5-place(4,2)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_18_49_bridge#episode_9890.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12296_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the orange container to the right of the blue towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,5),5-place(4,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12296.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_19201_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With < put the blue fruit next to the green > as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,5),5-place(2,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_19201.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33858_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a blue fruit into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,4),5-place(1,4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33858.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37064_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <move a red bucket  to the top right of a blue clothe> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,7),5-place(2,7)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37064.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40798_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a red block onto a green block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,3),5-place(4,3)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40798.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_4782_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place a orange vegetable into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,1),5-place(4,1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_4782.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47323_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a red pawn on top of a yellow block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-place(2,1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47323.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_50059_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the yellow fruit on a yellow cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,4),5-place(3,4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_50059.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_29_57_fmb#episode_3148_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the dark blue bricks in the card slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,3),5-place(2,3),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-turn(2,down,state_of_down),10-move_to(2,6),11-insert(2,6)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_29_57_fmb#episode_3148.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rt_frames_success_rtx_frames_success_34_57_fmb#episode_7983_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the dark blue bricks in the card slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,2),5-place(1,2),6-move_to(none,1),7-grasp(1),8-pick_up(1),9-turn(1,down,state_of_down),10-move_to(1,6),11-insert(1,6)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_34_57_fmb#episode_7983.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_13902_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Stand up the blue support> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-turn(1,anticlockwise,stand_up),5-place(1,3)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_13902.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_16737_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <moving a purple obgect onto a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,11),5-place(1,11)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_16737.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_21347_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <nesting three cups of different colors> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-place(2,1),6-grasp(1),7-pick_up(1),8-move_to(1,3),9-place(1,3)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_21347.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_31746_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing four orange slice into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,1),5-place(5,1),6-move_to(none,6),7-grasp(6),8-pick_up(6),9-move_to(6,1),10-place(6,1),11-move_to(none,4),12-grasp(4),13-pick_up(4),14-move_to(4,1),15-place(4,1),16-move_to(none,3),17-grasp(3),18-pick_up(3),19-move_to(3,1),20-place(3,1)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_31746.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_34041_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up the orange slice and put it in the plastics cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,1),5-place(4,1),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,1),10-place(3,1),11-move_to(none,5),12-grasp(5),13-pike_up(5),14-move_to(5,1),15-place(5,1)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_34041.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_36282_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <changing the position of a small black box on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,7),5-place(1,7)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_36282.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_51388_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place all the disc in a paper cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,7),5-place(1,7),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2,7),10-place(2,7),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,7),15-place(3,7),16-move_to(none,4),17-grasp(4),18-pick_up(4),19-move_to(4,7),20-place(4,7),21-move_to(none,5),22-grasp(5),23-pick_up(5),24-move_to(5,7),25-place(5,7),26-move_to(none,6),27-grasp(6),28-pick_up(6),29-move_to(6,7),30-place(6,7)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_51388.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_53295_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the black pot on the other side, pour the liquid from the silver pot into the sink and place it on a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 17 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,8),5-place(1,8),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2,9),10-place(2,9),11-move_to(none,7),12-grasp(7),13-pick_up(7),14-move_to(7,10),15-pour(7,liquid,10),16-move_to(7,3),17-place(7,3)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_53295.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_56889_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a white clothes and moving a black cap> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp(6),3-fold(6,7),4-place(6,7),5-move_to(none,2),6-grasp(2),7-pick_up(2),8-move_to(2,1),9-place(2,1)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_56889.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_58359_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the purple ball from the plate and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,8),5-place(2,8)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_58359.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_62772_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the orange discs in a white cup and the blue discs in a plastic cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,7),5-place(2,7),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,7),10-place(3,7)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_62772.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_64201_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place a small white bottle into a red mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp(6),3-pick_up(6),4-move_to(6,1),5-place(6,1)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_64201.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_64547_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <putting orange discs into a black bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,7),5-place(3,7),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2,7),10-place(2,7)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_64547.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_66795_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a green block on top of orange block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,1),5-place(4,1)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_66795.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_70794_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the liquid from the white container into the black container and stir> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,4),5-pour(5,water,4),6-move_to(5,7),7-place(5,7),8-move_to(none,3),9-grasp(3),10-pick_up(3),11-turn(3,down,state_of_down),12-move_to(3,4),13-stir(3,water,4),14-move_to(3,7),15-place(3,7)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_70794.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_85805_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <moving a red clothes from one drawer to another and closing the first drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,4),5-place(2,4),6-move_to(none,3),7-grasp(3),8-push(3,drawer_close)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_85805.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/color/images/rtx_frames__new_85_85_droid#episode_90414_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "color"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <connecting three black rectangular blocks> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 18 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-turn(5,clockwise,transverse),5-move_to(5,10),6-place(5,10),7-move_to(none,3),8-grasp(3),9-pick_up(3),10-turn(3,clockwise,transverse),11-move_to(3,11),12-place(3,11)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_90414.png"
+    ]
+  }
+]
\ No newline at end of file
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new file mode 100644
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+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-123_episode-1_rgbd-1",
+    "actions_list": [
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+      "grasp(first_pipette_tip)",
+      "pick_up(first_pipette_tip)",
+      "move_to(first_pipette_tip, holder)",
+      "place(first_pipette_tip, holder)",
+      "move_to(none, pipette_tip_rack)",
+      "grasp(second_pipette_tip)",
+      "pick_up(second_pipette_tip)",
+      "move_to(second_pipette_tip, holder)",
+      "place(second_pipette_tip, holder)",
+      "move_to(none, pipette_tip_rack)",
+      "grasp(third_pipette_tip)",
+      "pick_up(third_pipette_tip)",
+      "move_to(third_pipette_tip, holder)",
+      "place(third_pipette_tip, holder)",
+      "move_to(none, pipette_tip_rack)",
+      "grasp(fourth_pipette_tip)",
+      "pick_up(fourth_pipette_tip)",
+      "move_to(fourth_pipette_tip, holder)",
+      "place(fourth_pipette_tip, holder)",
+      "move_to(none, pipette_tip_rack)",
+      "grasp(fifth_pipette_tip)",
+      "pick_up(fifth_pipette_tip)",
+      "move_to(fifth_pipette_tip, holder)",
+      "place(fifth_pipette_tip, holder)",
+      "move_to(none, pipette_tip_rack)",
+      "grasp(sixth_pipette_tip)",
+      "pick_up(sixth_pipette_tip)",
+      "move_to(sixth_pipette_tip, holder)",
+      "place(sixth_pipette_tip, holder)",
+      "move_to(none, pipette_tip_rack)",
+      "grasp(seventh_pipette_tip)",
+      "pick_up(seventh_pipette_tip)",
+      "move_to(seventh_pipette_tip, holder)",
+      "place(seventh_pipette_tip, holder)"
+    ],
+    "gt_dag": {
+      "grasp(first_pipette_tip)": [
+        "pick_up(first_pipette_tip)"
+      ],
+      "pick_up(first_pipette_tip)": [
+        "move_to(first_pipette_tip, holder)"
+      ],
+      "move_to(first_pipette_tip, holder)": [
+        "place(first_pipette_tip, holder)"
+      ],
+      "place(first_pipette_tip, holder)": [],
+      "grasp(second_pipette_tip)": [
+        "pick_up(second_pipette_tip)"
+      ],
+      "pick_up(second_pipette_tip)": [
+        "move_to(second_pipette_tip, holder)"
+      ],
+      "move_to(second_pipette_tip, holder)": [
+        "place(second_pipette_tip, holder)"
+      ],
+      "place(second_pipette_tip, holder)": [],
+      "grasp(third_pipette_tip)": [
+        "pick_up(third_pipette_tip)"
+      ],
+      "pick_up(third_pipette_tip)": [
+        "move_to(third_pipette_tip, holder)"
+      ],
+      "move_to(third_pipette_tip, holder)": [
+        "place(third_pipette_tip, holder)"
+      ],
+      "place(third_pipette_tip, holder)": [],
+      "grasp(fourth_pipette_tip)": [
+        "pick_up(fourth_pipette_tip)"
+      ],
+      "pick_up(fourth_pipette_tip)": [
+        "move_to(fourth_pipette_tip, holder)"
+      ],
+      "move_to(fourth_pipette_tip, holder)": [
+        "place(fourth_pipette_tip, holder)"
+      ],
+      "place(fourth_pipette_tip, holder)": [],
+      "grasp(fifth_pipette_tip)": [
+        "pick_up(fifth_pipette_tip)"
+      ],
+      "pick_up(fifth_pipette_tip)": [
+        "move_to(fifth_pipette_tip, holder)"
+      ],
+      "move_to(fifth_pipette_tip, holder)": [
+        "place(fifth_pipette_tip, holder)"
+      ],
+      "place(fifth_pipette_tip, holder)": [],
+      "grasp(sixth_pipette_tip)": [
+        "pick_up(sixth_pipette_tip)"
+      ],
+      "pick_up(sixth_pipette_tip)": [
+        "move_to(sixth_pipette_tip, holder)"
+      ],
+      "move_to(sixth_pipette_tip, holder)": [
+        "place(sixth_pipette_tip, holder)"
+      ],
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+      "move_to(none, pipette_tip_rack)": [
+        "grasp(first_pipette_tip)"
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+      "grasp(seventh_pipette_tip)": [
+        "pick_up(seventh_pipette_tip)"
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+        "grasp(sixth_pipette_tip)"
+      ],
+      "move_to(none, pipette_tip_rack)<6>": [
+        "grasp(seventh_pipette_tip)"
+      ]
+    },
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-122_episode-2_rgbd-1",
+    "actions_list": [
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+      "pick_up(first_tip)",
+      "move_to(first_tip, holder)",
+      "place(first_tip, holder)",
+      "grasp(second_tip)",
+      "pick_up(second_tip)",
+      "move_to(second_tip, holder)",
+      "place(second_tip, holder)",
+      "grasp(third_tip)",
+      "pick_up(third_tip)",
+      "move_to(third_tip, holder)",
+      "place(third_tip, holder)",
+      "grasp(fourth_tip)",
+      "pick_up(fourth_tip)",
+      "move_to(fourth_tip, holder)",
+      "place(fourth_tip, holder)",
+      "grasp(fifth_tip)",
+      "pick_up(fifth_tip)",
+      "move_to(fifth_tip, holder)",
+      "place(fifth_tip, holder)",
+      "grasp(sixth_tip)",
+      "pick_up(sixth_tip)",
+      "move_to(sixth_tip, holder)",
+      "place(sixth_tip, holder)",
+      "grasp(seventh_tip)",
+      "pick_up(seventh_tip)",
+      "move_to(seventh_tip, holder)",
+      "place(seventh_tip, holder)",
+      "grasp(eighth_tip)",
+      "pick_up(eighth_tip)",
+      "move_to(eighth_tip, holder)",
+      "place(eighth_tip, holder)",
+      "grasp(ninth_tip)",
+      "pick_up(ninth_tip)",
+      "move_to(ninth_tip, holder)",
+      "place(ninth_tip, holder)",
+      "grasp(tenth_tip)",
+      "pick_up(tenth_tip)",
+      "move_to(tenth_tip, holder)",
+      "place(tenth_tip, holder)"
+    ],
+    "gt_dag": {
+      "grasp(first_tip)": [
+        "pick_up(first_tip)"
+      ],
+      "pick_up(first_tip)": [
+        "move_to(first_tip, holder)"
+      ],
+      "move_to(first_tip, holder)": [
+        "place(first_tip, holder)"
+      ],
+      "place(first_tip, holder)": [],
+      "grasp(second_tip)": [
+        "pick_up(second_tip)"
+      ],
+      "pick_up(second_tip)": [
+        "move_to(second_tip, holder)"
+      ],
+      "move_to(second_tip, holder)": [
+        "place(second_tip, holder)"
+      ],
+      "place(second_tip, holder)": [],
+      "grasp(third_tip)": [
+        "pick_up(third_tip)"
+      ],
+      "pick_up(third_tip)": [
+        "move_to(third_tip, holder)"
+      ],
+      "move_to(third_tip, holder)": [
+        "place(third_tip, holder)"
+      ],
+      "place(third_tip, holder)": [],
+      "grasp(fourth_tip)": [
+        "pick_up(fourth_tip)"
+      ],
+      "pick_up(fourth_tip)": [
+        "move_to(fourth_tip, holder)"
+      ],
+      "move_to(fourth_tip, holder)": [
+        "place(fourth_tip, holder)"
+      ],
+      "place(fourth_tip, holder)": [],
+      "grasp(fifth_tip)": [
+        "pick_up(fifth_tip)"
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+      "pick_up(fifth_tip)": [
+        "move_to(fifth_tip, holder)"
+      ],
+      "move_to(fifth_tip, holder)": [
+        "place(fifth_tip, holder)"
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+      "place(fifth_tip, holder)": [],
+      "grasp(sixth_tip)": [
+        "pick_up(sixth_tip)"
+      ],
+      "pick_up(sixth_tip)": [
+        "move_to(sixth_tip, holder)"
+      ],
+      "move_to(sixth_tip, holder)": [
+        "place(sixth_tip, holder)"
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+      "place(sixth_tip, holder)": [],
+      "grasp(seventh_tip)": [
+        "pick_up(seventh_tip)"
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+      "pick_up(seventh_tip)": [
+        "move_to(seventh_tip, holder)"
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+        "place(seventh_tip, holder)"
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+      "move_to(tenth_tip, holder)": [
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+  },
+  {
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+    "actions_list": [
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+      "grasp(large_block)",
+      "pick_up(large_block)",
+      "move_to(large_block, white_cloth)",
+      "place(large_block, white_cloth)",
+      "move_to(none, gift_box)",
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+      "pick_up(small_block)",
+      "move_to(small_block, white_cloth)",
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+        "place(small_block, white_cloth)"
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+      "place(small_block, white_cloth)": [],
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+        "grasp(small_block)"
+      ]
+    },
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+  },
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+    "actions_list": [
+      "grasp(soccer_ball)",
+      "pick_up(soccer_ball)",
+      "move_to(soccer_ball, green_cloth)",
+      "place(soccer_ball, green_cloth)",
+      "grasp(small_wooden_block)",
+      "pick_up(small_wooden_block)",
+      "move_to(small_wooden_block, green_cloth)",
+      "place(small_wooden_block, green_cloth)",
+      "grasp(big_wooden_block)",
+      "pick_up(big_wooden_block)",
+      "move_to(big_wooden_block, green_cloth)",
+      "place(big_wooden_block, green_cloth)",
+      "grasp(basketball)",
+      "pick_up(basketball)",
+      "move_to(basketball, green_cloth)",
+      "place(basketball, green_cloth)"
+    ],
+    "gt_dag": {
+      "grasp(soccer_ball)": [
+        "pick_up(soccer_ball)"
+      ],
+      "pick_up(soccer_ball)": [
+        "move_to(soccer_ball, green_cloth)"
+      ],
+      "move_to(soccer_ball, green_cloth)": [
+        "place(soccer_ball, green_cloth)"
+      ],
+      "place(soccer_ball, green_cloth)": [
+        "grasp(big_wooden_block)"
+      ],
+      "grasp(small_wooden_block)": [
+        "pick_up(small_wooden_block)"
+      ],
+      "pick_up(small_wooden_block)": [
+        "move_to(small_wooden_block, green_cloth)"
+      ],
+      "move_to(small_wooden_block, green_cloth)": [
+        "place(small_wooden_block, green_cloth)"
+      ],
+      "place(small_wooden_block, green_cloth)": [
+        "grasp(big_wooden_block)"
+      ],
+      "grasp(big_wooden_block)": [
+        "pick_up(big_wooden_block)"
+      ],
+      "pick_up(big_wooden_block)": [
+        "move_to(big_wooden_block, green_cloth)"
+      ],
+      "move_to(big_wooden_block, green_cloth)": [
+        "place(big_wooden_block, green_cloth)"
+      ],
+      "place(big_wooden_block, green_cloth)": [],
+      "grasp(basketball)": [
+        "pick_up(basketball)"
+      ],
+      "pick_up(basketball)": [
+        "move_to(basketball, green_cloth)"
+      ],
+      "move_to(basketball, green_cloth)": [
+        "place(basketball, green_cloth)"
+      ],
+      "place(basketball, green_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-10_task-59_episode-4_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-42_task-44_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, power_strip)",
+      "grasp(first_switch)",
+      "press(first_switch)",
+      "grasp(second_switch)",
+      "press(second_switch)",
+      "grasp(third_switch)",
+      "press(third_switch)",
+      "grasp(fourth_switch)",
+      "press(fourth_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, power_strip)": [
+        "grasp(first_switch)",
+        "grasp(second_switch)",
+        "grasp(third_switch)",
+        "grasp(fourth_switch)"
+      ],
+      "grasp(first_switch)": [
+        "press(first_switch)"
+      ],
+      "press(first_switch)": [],
+      "grasp(second_switch)": [
+        "press(second_switch)"
+      ],
+      "press(second_switch)": [],
+      "grasp(third_switch)": [
+        "press(third_switch)"
+      ],
+      "press(third_switch)": [],
+      "grasp(fourth_switch)": [
+        "press(fourth_switch)"
+      ],
+      "press(fourth_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-42_task-44_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-44_task-47_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, gift_box)",
+      "grasp(basketball)",
+      "pick_up(basketball)",
+      "move_to(basketball, table)",
+      "place(basketball, table)",
+      "move_to(none, gift_box)",
+      "grasp(rubiks_cube)",
+      "pick_up(rubiks_cube)",
+      "move_to(rubiks_cube, table)",
+      "place(rubiks_cube, table)",
+      "move_to(none, gift_box)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen, table)",
+      "place(pen, table)"
+    ],
+    "gt_dag": {
+      "grasp(basketball)": [
+        "pick_up(basketball)"
+      ],
+      "pick_up(basketball)": [
+        "move_to(basketball, table)"
+      ],
+      "move_to(basketball, table)": [
+        "place(basketball, table)"
+      ],
+      "place(basketball, table)": [],
+      "grasp(rubiks_cube)": [
+        "pick_up(rubiks_cube)"
+      ],
+      "pick_up(rubiks_cube)": [
+        "move_to(rubiks_cube, table)"
+      ],
+      "move_to(rubiks_cube, table)": [
+        "place(rubiks_cube, table)"
+      ],
+      "place(rubiks_cube, table)": [],
+      "move_to(none, gift_box)": [
+        "grasp(basketball)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen, table)"
+      ],
+      "move_to(pen, table)": [
+        "place(pen, table)"
+      ],
+      "place(pen, table)": [],
+      "move_to(none, gift_box)<1>": [
+        "grasp(rubiks_cube)"
+      ],
+      "move_to(none, gift_box)<2>": [
+        "grasp(pen)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-44_task-47_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-113_episode-1_rgbd-1",
+    "actions_list": [
+      "grasp(first_pipette_tip)",
+      "pick_up(first_pipette_tip)",
+      "move_to(first_pipette_tip, other_box)",
+      "place(first_pipette_tip, other_box)",
+      "grasp(second_pipette_tip)",
+      "pick_up(second_pipette_tip)",
+      "move_to(second_pipette_tip, other_box)",
+      "place(second_pipette_tip, other_box)",
+      "grasp(third_pipette_tip)",
+      "pick_up(third_pipette_tip)",
+      "move_to(third_pipette_tip, other_box)",
+      "place(third_pipette_tip, other_box)",
+      "grasp(fourth_pipette_tip)",
+      "pick_up(fourth_pipette_tip)",
+      "mpve_to(fourth_pipette_tip, other_box)",
+      "place(fourth_pipette_tip, other_box)",
+      "grasp(fifth_pipette_tip)",
+      "pick_up(fifth_pipette_tip)",
+      "move_to(fifth_pipette_tip, other_box)",
+      "place(fifth_pipette_tip, other_box)",
+      "grasp(sixth_pipette_tip)",
+      "pick_up(sixth_pipette_tip)",
+      "move_to(sixth_pipette_tip, other_box)",
+      "place(sixth_pipette_tip, other_box)",
+      "grasp(seventh_pipette_tip)",
+      "pick_up(seventh_pipette_tip)",
+      "move_to(seventh_pipette_tip,other_box)",
+      "place(seventh_pipette_tip,other_box)",
+      "grasp(eighth_pipette_tip)",
+      "pick_up(eighth_pipette_tip)",
+      "move_to(eighth_pipette_tip, other_box)",
+      "place(eighth_pipette_tip, other_box)",
+      "grasp(ninth_pipette_tip)",
+      "pick_up(ninth_pipette_tip)",
+      "move_to(ninth_pipette_tip, other_box)",
+      "place(ninth_pipette_tip, other_box)",
+      "grasp(tenth_pipette_tip)",
+      "pick_up(tenth_pipette_tip)",
+      "move_to(tenth_pipette_tip, other_box)",
+      "place(tenth_pipette_tip, other_box)"
+    ],
+    "gt_dag": {
+      "grasp(first_pipette_tip)": [
+        "pick_up(first_pipette_tip)"
+      ],
+      "pick_up(first_pipette_tip)": [
+        "move_to(first_pipette_tip, other_box)"
+      ],
+      "move_to(first_pipette_tip, other_box)": [
+        "place(first_pipette_tip, other_box)"
+      ],
+      "place(first_pipette_tip, other_box)": [],
+      "grasp(second_pipette_tip)": [
+        "pick_up(second_pipette_tip)"
+      ],
+      "pick_up(second_pipette_tip)": [
+        "move_to(second_pipette_tip, other_box)"
+      ],
+      "move_to(second_pipette_tip, other_box)": [
+        "place(second_pipette_tip, other_box)"
+      ],
+      "place(second_pipette_tip, other_box)": [],
+      "grasp(third_pipette_tip)": [
+        "pick_up(third_pipette_tip)"
+      ],
+      "pick_up(third_pipette_tip)": [
+        "move_to(third_pipette_tip, other_box)"
+      ],
+      "move_to(third_pipette_tip, other_box)": [
+        "place(third_pipette_tip, other_box)"
+      ],
+      "place(third_pipette_tip, other_box)": [],
+      "grasp(fourth_pipette_tip)": [
+        "pick_up(fourth_pipette_tip)"
+      ],
+      "pick_up(fourth_pipette_tip)": [
+        "mpve_to(fourth_pipette_tip, other_box)"
+      ],
+      "mpve_to(fourth_pipette_tip, other_box)": [
+        "place(fourth_pipette_tip, other_box)"
+      ],
+      "place(fourth_pipette_tip, other_box)": [],
+      "grasp(fifth_pipette_tip)": [
+        "pick_up(fifth_pipette_tip)"
+      ],
+      "pick_up(fifth_pipette_tip)": [
+        "move_to(fifth_pipette_tip, other_box)"
+      ],
+      "move_to(fifth_pipette_tip, other_box)": [
+        "place(fifth_pipette_tip, other_box)"
+      ],
+      "place(fifth_pipette_tip, other_box)": [],
+      "grasp(sixth_pipette_tip)": [
+        "pick_up(sixth_pipette_tip)"
+      ],
+      "pick_up(sixth_pipette_tip)": [
+        "move_to(sixth_pipette_tip, other_box)"
+      ],
+      "move_to(sixth_pipette_tip, other_box)": [
+        "place(sixth_pipette_tip, other_box)"
+      ],
+      "place(sixth_pipette_tip, other_box)": [],
+      "grasp(seventh_pipette_tip)": [
+        "pick_up(seventh_pipette_tip)"
+      ],
+      "pick_up(seventh_pipette_tip)": [
+        "move_to(seventh_pipette_tip,other_box)"
+      ],
+      "move_to(seventh_pipette_tip,other_box)": [
+        "place(seventh_pipette_tip,other_box)"
+      ],
+      "place(seventh_pipette_tip,other_box)": [],
+      "grasp(eighth_pipette_tip)": [
+        "pick_up(eighth_pipette_tip)"
+      ],
+      "pick_up(eighth_pipette_tip)": [
+        "move_to(eighth_pipette_tip, other_box)"
+      ],
+      "move_to(eighth_pipette_tip, other_box)": [
+        "place(eighth_pipette_tip, other_box)"
+      ],
+      "place(eighth_pipette_tip, other_box)": [],
+      "grasp(ninth_pipette_tip)": [
+        "pick_up(ninth_pipette_tip)"
+      ],
+      "pick_up(ninth_pipette_tip)": [
+        "move_to(ninth_pipette_tip, other_box)"
+      ],
+      "move_to(ninth_pipette_tip, other_box)": [
+        "place(ninth_pipette_tip, other_box)"
+      ],
+      "place(ninth_pipette_tip, other_box)": [],
+      "grasp(tenth_pipette_tip)": [
+        "pick_up(tenth_pipette_tip)"
+      ],
+      "pick_up(tenth_pipette_tip)": [
+        "move_to(tenth_pipette_tip, other_box)"
+      ],
+      "move_to(tenth_pipette_tip, other_box)": [
+        "place(tenth_pipette_tip, other_box)"
+      ],
+      "place(tenth_pipette_tip, other_box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-113_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/RDT-FT_imgs_1_pick_out_clip_episode_13",
+    "actions_list": [
+      "left:no_ops, right:grasp(first_clip)",
+      "left:no_ops, right:pick_up(first_clip)",
+      "left:no_ops, right:move_to(first_clip, box_left)",
+      "left:no_ops, right:place(first_clip, table)",
+      "left:no_ops, right:move_to(none, box)",
+      "left:no_ops, right:grasp(second_clip)",
+      "left:no_ops, right:pick_up(second_clip)",
+      "left:no_ops, right:move_to(second_clip, box_left)",
+      "left:no_ops, right:place(second_clip, table)",
+      "left:move_to(none,third_clip), right:no_ops",
+      "left:grasp(third_clip), right:no_ops",
+      "left:pick_up(third_clip), right:no_ops",
+      "left:move_to(third_clip,left_box), right:no_ops",
+      "left:place(third_clip,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:grasp(first_clip)": [
+        "left:no_ops, right:pick_up(first_clip)"
+      ],
+      "left:no_ops, right:pick_up(first_clip)": [
+        "left:no_ops, right:move_to(first_clip, box_left)"
+      ],
+      "left:no_ops, right:move_to(first_clip, box_left)": [
+        "left:no_ops, right:place(first_clip, table)"
+      ],
+      "left:no_ops, right:place(first_clip, table)": [],
+      "left:no_ops, right:move_to(none, box)": [
+        "left:no_ops, right:grasp(second_clip)"
+      ],
+      "left:no_ops, right:grasp(second_clip)": [
+        "left:no_ops, right:pick_up(second_clip)"
+      ],
+      "left:no_ops, right:pick_up(second_clip)": [
+        "left:no_ops, right:move_to(second_clip, box_left)"
+      ],
+      "left:no_ops, right:move_to(second_clip, box_left)": [
+        "left:no_ops, right:place(second_clip, table)"
+      ],
+      "left:no_ops, right:place(second_clip, table)": [],
+      "left:move_to(none,third_clip), right:no_ops": [
+        "left:grasp(third_clip), right:no_ops"
+      ],
+      "left:grasp(third_clip), right:no_ops": [
+        "left:pick_up(third_clip), right:no_ops"
+      ],
+      "left:pick_up(third_clip), right:no_ops": [
+        "left:move_to(third_clip,left_box), right:no_ops"
+      ],
+      "left:move_to(third_clip,left_box), right:no_ops": [
+        "left:place(third_clip,table), right:no_ops"
+      ],
+      "left:place(third_clip,table), right:no_ops": []
+    }
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40929",
+    "actions_list": [
+      "move_to(none, sweeping_tool)",
+      "grasp(sweeping_tool)",
+      "wipe(sweeping_tool, scattered_objects, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, sweeping_tool)": [
+        "grasp(sweeping_tool)"
+      ],
+      "grasp(sweeping_tool)": [
+        "wipe(sweeping_tool, scattered_objects, table)"
+      ],
+      "wipe(sweeping_tool, scattered_objects, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40929.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_33",
+    "actions_list": [
+      "move_to(none, tea_bag)",
+      "grasp(tea_bag)",
+      "pick_up(tea_bag)",
+      "move_to(tea_bag,blue_cup)",
+      "place(tea_bag, blue_cup)",
+      "move_to(none, tea_bag)",
+      "grasp(tea_bag)",
+      "pick_up(tea_bag)",
+      "move_to(tea_bag,yellow_cup)",
+      "place(tea_bag,yellow_cup)"
+    ],
+    "gt_dag": {
+      "move_to(tea_bag,blue_cup)": [
+        "place(tea_bag, blue_cup)"
+      ],
+      "place(tea_bag, blue_cup)": [],
+      "move_to(tea_bag,yellow_cup)": [
+        "place(tea_bag,yellow_cup)"
+      ],
+      "place(tea_bag,yellow_cup)": [],
+      "pick_up(tea_bag)": [
+        "move_to(tea_bag,blue_cup)"
+      ],
+      "grasp(tea_bag)": [
+        "pick_up(tea_bag)"
+      ],
+      "move_to(none, tea_bag)": [
+        "grasp(tea_bag)"
+      ],
+      "move_to(none, tea_bag)<1>": [
+        "grasp(tea_bag)<1>"
+      ],
+      "grasp(tea_bag)<1>": [
+        "pick_up(tea_bag)<1>"
+      ],
+      "pick_up(tea_bag)<1>": [
+        "move_to(tea_bag,yellow_cup)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_33.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_82",
+    "actions_list": [
+      "move_to(none, crumpled_paper_in_the_red_bowl)",
+      "grasp(crumpled_paper_in_the_red_bowl)",
+      "pick_up(crumpled_paper_in_the_red_bowl)",
+      "move_to(crumpled_paper_in_the_red_bowl, trash_can)",
+      "place(crumpled_paper_in_the_red_bowl, trash_can)",
+      "move_to(none, crumpled_paper_in_the_blue_bowl)",
+      "grasp(crumpled_paper_in_the_blue_bowl)",
+      "pick_up(crumpled_paper_in_the_blue_bowl)",
+      "move_to(crumpled_paper_in_the_blue_bowl, trash_can)",
+      "place(crumpled_paper_in_the_blue_bowl, trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none, crumpled_paper_in_the_red_bowl)": [
+        "grasp(crumpled_paper_in_the_red_bowl)"
+      ],
+      "grasp(crumpled_paper_in_the_red_bowl)": [
+        "pick_up(crumpled_paper_in_the_red_bowl)"
+      ],
+      "pick_up(crumpled_paper_in_the_red_bowl)": [
+        "move_to(crumpled_paper_in_the_red_bowl, trash_can)"
+      ],
+      "move_to(crumpled_paper_in_the_red_bowl, trash_can)": [
+        "place(crumpled_paper_in_the_red_bowl, trash_can)"
+      ],
+      "place(crumpled_paper_in_the_red_bowl, trash_can)": [],
+      "move_to(none, crumpled_paper_in_the_blue_bowl)": [
+        "grasp(crumpled_paper_in_the_blue_bowl)"
+      ],
+      "grasp(crumpled_paper_in_the_blue_bowl)": [
+        "pick_up(crumpled_paper_in_the_blue_bowl)"
+      ],
+      "pick_up(crumpled_paper_in_the_blue_bowl)": [
+        "move_to(crumpled_paper_in_the_blue_bowl, trash_can)"
+      ],
+      "move_to(crumpled_paper_in_the_blue_bowl, trash_can)": [
+        "place(crumpled_paper_in_the_blue_bowl, trash_can)"
+      ],
+      "place(crumpled_paper_in_the_blue_bowl, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_82.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_95",
+    "actions_list": [
+      "move_to(none, first_crumpled_paper)",
+      "grasp(first_crumpled_paper)",
+      "pick_up(first_crumpled_paper)",
+      "move_to(first_crumpled_paper, bin)",
+      "place(first_crumpled_paper, bin)",
+      "move_to(none, second_crumpled_paper)",
+      "grasp(second_crumpled_paper)",
+      "pick_up(second_crumpled_paper)",
+      "move_to(second_crumpled_paper, bin)",
+      "place(second_crumpled_paper, bin)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_crumpled_paper)": [
+        "grasp(first_crumpled_paper)"
+      ],
+      "grasp(first_crumpled_paper)": [
+        "pick_up(first_crumpled_paper)"
+      ],
+      "pick_up(first_crumpled_paper)": [
+        "move_to(first_crumpled_paper, bin)"
+      ],
+      "move_to(first_crumpled_paper, bin)": [
+        "place(first_crumpled_paper, bin)"
+      ],
+      "place(first_crumpled_paper, bin)": [],
+      "move_to(none, second_crumpled_paper)": [
+        "grasp(second_crumpled_paper)"
+      ],
+      "grasp(second_crumpled_paper)": [
+        "pick_up(second_crumpled_paper)"
+      ],
+      "pick_up(second_crumpled_paper)": [
+        "move_to(second_crumpled_paper, bin)"
+      ],
+      "move_to(second_crumpled_paper, bin)": [
+        "place(second_crumpled_paper, bin)"
+      ],
+      "place(second_crumpled_paper, bin)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_95.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_173",
+    "actions_list": [
+      "move_to(none,red_cup)",
+      "grasp(red_cup)",
+      "pick_up(red_cup)",
+      "move_to(red_cup, yellow_cup)",
+      "place(red_cup, yellow_cup)",
+      "move_to(none,green_cup)",
+      "grasp(green_cup)",
+      "pick_up(green_cup)",
+      "move_to(green_cup, red_cup)",
+      "place(green_cup, red_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none,red_cup)": [
+        "grasp(red_cup)"
+      ],
+      "grasp(red_cup)": [
+        "pick_up(red_cup)"
+      ],
+      "pick_up(red_cup)": [
+        "move_to(red_cup, yellow_cup)"
+      ],
+      "move_to(red_cup, yellow_cup)": [
+        "place(red_cup, yellow_cup)"
+      ],
+      "place(red_cup, yellow_cup)": [
+        "move_to(none,green_cup)"
+      ],
+      "move_to(none,green_cup)": [
+        "grasp(green_cup)"
+      ],
+      "grasp(green_cup)": [
+        "pick_up(green_cup)"
+      ],
+      "pick_up(green_cup)": [
+        "move_to(green_cup, red_cup)"
+      ],
+      "move_to(green_cup, red_cup)": [
+        "place(green_cup, red_cup)"
+      ],
+      "place(green_cup, red_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_173.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_1571",
+    "actions_list": [
+      "move_to(none, basket)",
+      "grasp(round_pineapple_plush_toy)",
+      "pick_up(round_pineapple_plush_toy)",
+      "move_to(pineapple_plush_toy, table)",
+      "place(pineapple_plush_toy, table)",
+      "move_to(none,watermelon_slice_shaped_plush_toy)",
+      "grasp(watermelon_slice_shaped_plush_toy)",
+      "pick_up(watermelon_slice_shaped_plush_toy)",
+      "move_to(watermelon_plush_toy, table)",
+      "place(watermelon_plush_toy, table)",
+      "move_to(none,banana_plush_toy)",
+      "grasp(banana_plush_toy)",
+      "pick_up(banana_plush_toy)",
+      "move_to(banana_plush_toy, table)",
+      "place(banana_plush_toy, table)",
+      "move_to(plush_toy_shaped_like_a_bunch_of_grapes)",
+      "grasp(plush_toy_shaped_like_a_bunch_of_grapes)",
+      "pick_up(plush_toy_shaped_like_a_bunch_of_grapes)",
+      "move_to(grapes_plush_toy, table)",
+      "place(grapes_plush_toy, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, basket)": [
+        "grasp(round_pineapple_plush_toy)"
+      ],
+      "grasp(round_pineapple_plush_toy)": [
+        "pick_up(round_pineapple_plush_toy)"
+      ],
+      "pick_up(round_pineapple_plush_toy)": [
+        "move_to(pineapple_plush_toy, table)"
+      ],
+      "move_to(pineapple_plush_toy, table)": [
+        "place(pineapple_plush_toy, table)"
+      ],
+      "place(pineapple_plush_toy, table)": [],
+      "move_to(none,watermelon_slice_shaped_plush_toy)": [
+        "grasp(watermelon_slice_shaped_plush_toy)"
+      ],
+      "grasp(watermelon_slice_shaped_plush_toy)": [
+        "pick_up(watermelon_slice_shaped_plush_toy)"
+      ],
+      "pick_up(watermelon_slice_shaped_plush_toy)": [
+        "move_to(watermelon_plush_toy, table)"
+      ],
+      "move_to(watermelon_plush_toy, table)": [
+        "place(watermelon_plush_toy, table)"
+      ],
+      "place(watermelon_plush_toy, table)": [],
+      "move_to(none,banana_plush_toy)": [
+        "grasp(banana_plush_toy)"
+      ],
+      "grasp(banana_plush_toy)": [
+        "pick_up(banana_plush_toy)"
+      ],
+      "pick_up(banana_plush_toy)": [
+        "move_to(banana_plush_toy, table)"
+      ],
+      "move_to(banana_plush_toy, table)": [
+        "place(banana_plush_toy, table)"
+      ],
+      "place(banana_plush_toy, table)": [],
+      "move_to(plush_toy_shaped_like_a_bunch_of_grapes)": [
+        "grasp(plush_toy_shaped_like_a_bunch_of_grapes)"
+      ],
+      "grasp(plush_toy_shaped_like_a_bunch_of_grapes)": [
+        "pick_up(plush_toy_shaped_like_a_bunch_of_grapes)"
+      ],
+      "pick_up(plush_toy_shaped_like_a_bunch_of_grapes)": [
+        "move_to(grapes_plush_toy, table)"
+      ],
+      "move_to(grapes_plush_toy, table)": [
+        "place(grapes_plush_toy, table)"
+      ],
+      "place(grapes_plush_toy, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_1571.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_1573",
+    "actions_list": [
+      "move_to(none, box)",
+      "grasp(first_book)",
+      "pick_up(first_book)",
+      "move_to(first_book, sofa)",
+      "place(first_book, sofa)",
+      "move_to(none,second_book)",
+      "grasp(second_book)",
+      "pick_up(second_book)",
+      "move_to(second_book, sofa)",
+      "place(second_book, sofa)",
+      "move_to(none,cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, sofa)",
+      "place(cloth, sofa)"
+    ],
+    "gt_dag": {
+      "move_to(none, box)": [
+        "grasp(first_book)"
+      ],
+      "grasp(first_book)": [
+        "pick_up(first_book)"
+      ],
+      "pick_up(first_book)": [
+        "move_to(first_book, sofa)"
+      ],
+      "move_to(first_book, sofa)": [
+        "place(first_book, sofa)"
+      ],
+      "place(first_book, sofa)": [],
+      "move_to(none,second_book)": [
+        "grasp(second_book)"
+      ],
+      "grasp(second_book)": [
+        "pick_up(second_book)"
+      ],
+      "pick_up(second_book)": [
+        "move_to(second_book, sofa)"
+      ],
+      "move_to(second_book, sofa)": [
+        "place(second_book, sofa)"
+      ],
+      "place(second_book, sofa)": [
+        "move_to(none,cloth)"
+      ],
+      "move_to(none,cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, sofa)"
+      ],
+      "move_to(cloth, sofa)": [
+        "place(cloth, sofa)"
+      ],
+      "place(cloth, sofa)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_1573.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_1589",
+    "actions_list": [
+      "move_to(none,lime)",
+      "grasp(lime)",
+      "pick_up(lime)",
+      "move_to(lime, countertop)",
+      "place(lime, countertop)",
+      "move_to(none,banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, counter)",
+      "place(banana, counter)",
+      "move_to(none,orange)",
+      "grasp(orange)",
+      "pick_up(orange)",
+      "move_to(orange, countertop)",
+      "place(orange, countertop)",
+      "move_to(none,red_bell_pepper)",
+      "grasp(red_bell_pepper)",
+      "pick_up(red_bell_pepper)",
+      "move_to(red_bell_pepper, countertop)",
+      "place(red_bell_pepper, countertop)",
+      "move_to(none,apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple, countertop)",
+      "place(apple, countertop)",
+      "move_to(none,orange)",
+      "grasp(orange)",
+      "pick_up(orange)",
+      "move_to(orange, countertop)",
+      "place(orange, countertop)",
+      "move_to(none,first_green_object)",
+      "grasp(first_green_object)",
+      "pick_up(first_green_object)",
+      "move_to(first_green_object, countertop)",
+      "place(first_green_object, countertop)",
+      "move_to(none,second_green_object)",
+      "grasp(second_green_object)",
+      "pick_up(second_green_object)",
+      "move_to(second_green_object, countertop)",
+      "place(second_green_object, countertop)",
+      "move_to(none,red_object)",
+      "grasp(red_object)",
+      "pick_up(red_object)",
+      "move_to(red_object, countertop)",
+      "place(red_object, countertop)",
+      "move_to(none,pear)",
+      "grasp(pear)",
+      "pick_up(pear)",
+      "move_to(pear, countertop)",
+      "place(pear, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none,lime)": [
+        "grasp(lime)"
+      ],
+      "grasp(lime)": [
+        "pick_up(lime)"
+      ],
+      "pick_up(lime)": [
+        "move_to(lime, countertop)"
+      ],
+      "move_to(lime, countertop)": [
+        "place(lime, countertop)"
+      ],
+      "place(lime, countertop)": [],
+      "move_to(none,banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, counter)"
+      ],
+      "move_to(banana, counter)": [
+        "place(banana, counter)"
+      ],
+      "place(banana, counter)": [],
+      "move_to(none,red_bell_pepper)": [
+        "grasp(red_bell_pepper)"
+      ],
+      "grasp(red_bell_pepper)": [
+        "pick_up(red_bell_pepper)"
+      ],
+      "pick_up(red_bell_pepper)": [
+        "move_to(red_bell_pepper, countertop)"
+      ],
+      "move_to(red_bell_pepper, countertop)": [
+        "place(red_bell_pepper, countertop)"
+      ],
+      "place(red_bell_pepper, countertop)": [],
+      "move_to(none,apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple, countertop)"
+      ],
+      "move_to(apple, countertop)": [
+        "place(apple, countertop)"
+      ],
+      "place(apple, countertop)": [],
+      "move_to(none,orange)": [
+        "grasp(orange)"
+      ],
+      "grasp(orange)": [
+        "pick_up(orange)"
+      ],
+      "pick_up(orange)": [
+        "move_to(orange, countertop)"
+      ],
+      "move_to(orange, countertop)": [
+        "place(orange, countertop)"
+      ],
+      "place(orange, countertop)": [],
+      "move_to(none,first_green_object)": [
+        "grasp(first_green_object)"
+      ],
+      "grasp(first_green_object)": [
+        "pick_up(first_green_object)"
+      ],
+      "pick_up(first_green_object)": [
+        "move_to(first_green_object, countertop)"
+      ],
+      "move_to(first_green_object, countertop)": [
+        "place(first_green_object, countertop)"
+      ],
+      "place(first_green_object, countertop)": [],
+      "move_to(none,second_green_object)": [
+        "grasp(second_green_object)"
+      ],
+      "grasp(second_green_object)": [
+        "pick_up(second_green_object)"
+      ],
+      "pick_up(second_green_object)": [
+        "move_to(second_green_object, countertop)"
+      ],
+      "move_to(second_green_object, countertop)": [
+        "place(second_green_object, countertop)"
+      ],
+      "place(second_green_object, countertop)": [],
+      "move_to(none,red_object)": [
+        "grasp(red_object)"
+      ],
+      "grasp(red_object)": [
+        "pick_up(red_object)"
+      ],
+      "pick_up(red_object)": [
+        "move_to(red_object, countertop)"
+      ],
+      "move_to(red_object, countertop)": [
+        "place(red_object, countertop)"
+      ],
+      "place(red_object, countertop)": [],
+      "move_to(none,pear)": [
+        "grasp(pear)"
+      ],
+      "grasp(pear)": [
+        "pick_up(pear)"
+      ],
+      "pick_up(pear)": [
+        "move_to(pear, countertop)"
+      ],
+      "move_to(pear, countertop)": [
+        "place(pear, countertop)"
+      ],
+      "place(pear, countertop)": [],
+      "move_to(none,orange)<1>": [
+        "grasp(orange)<1>"
+      ],
+      "grasp(orange)<1>": [
+        "pick_up(orange)<1>"
+      ],
+      "pick_up(orange)<1>": [
+        "move_to(orange, countertop)<1>"
+      ],
+      "move_to(orange, countertop)<1>": [
+        "place(orange, countertop)<1>"
+      ],
+      "place(orange, countertop)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_1589.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_1692",
+    "actions_list": [
+      "move_to(none, clothes)",
+      "grasp(pink_clothes_and_white_clothes)",
+      "pick_up(pink_clothes_and_white_clothes)",
+      "move_to(pink_clothes_and_white_clothes, chair_back)",
+      "place(pink_clothes_and_white_clothes, back_rest_of_the_chair)",
+      "move_to(none, clothes)",
+      "grasp(green_clothes)",
+      "pick_up(green_clothes)",
+      "move_to(green_clothes, chair_back)",
+      "place(green_clothes, back_rest_of_the_chair)",
+      "move_to(none, clothes)",
+      "grasp(yellow_clothes_and_red_clothes)",
+      "pick_up(yellow_clothes_and_red_clothes)",
+      "move_to(yellow_clothes_and_red_clothes, chair_back)",
+      "place(yellow_clothes_and_red_clothes, back_rest_of_the_chair)"
+    ],
+    "gt_dag": {
+      "grasp(pink_clothes_and_white_clothes)": [
+        "pick_up(pink_clothes_and_white_clothes)"
+      ],
+      "pick_up(pink_clothes_and_white_clothes)": [
+        "move_to(pink_clothes_and_white_clothes, chair_back)"
+      ],
+      "move_to(pink_clothes_and_white_clothes, chair_back)": [
+        "place(pink_clothes_and_white_clothes, back_rest_of_the_chair)"
+      ],
+      "place(pink_clothes_and_white_clothes, back_rest_of_the_chair)": [],
+      "grasp(green_clothes)": [
+        "pick_up(green_clothes)"
+      ],
+      "pick_up(green_clothes)": [
+        "move_to(green_clothes, chair_back)"
+      ],
+      "move_to(green_clothes, chair_back)": [
+        "place(green_clothes, back_rest_of_the_chair)"
+      ],
+      "place(green_clothes, back_rest_of_the_chair)": [],
+      "move_to(none, clothes)": [
+        "grasp(pink_clothes_and_white_clothes)"
+      ],
+      "grasp(yellow_clothes_and_red_clothes)": [
+        "pick_up(yellow_clothes_and_red_clothes)"
+      ],
+      "pick_up(yellow_clothes_and_red_clothes)": [
+        "move_to(yellow_clothes_and_red_clothes, chair_back)"
+      ],
+      "move_to(yellow_clothes_and_red_clothes, chair_back)": [
+        "place(yellow_clothes_and_red_clothes, back_rest_of_the_chair)"
+      ],
+      "place(yellow_clothes_and_red_clothes, back_rest_of_the_chair)": [],
+      "move_to(none, clothes)<1>": [
+        "grasp(green_clothes)"
+      ],
+      "move_to(none, clothes)<2>": [
+        "grasp(yellow_clothes_and_red_clothes)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_1692.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_2171",
+    "actions_list": [
+      "move_to(none, clothes_on_the_chair)",
+      "grasp(peach_colored_cloth)",
+      "pick_up(peach_colored_cloth)",
+      "move_to(peach_colored_cloth, box)",
+      "place(peach_colored_cloth, box)",
+      "move_to(none,pink_cloth)",
+      "grasp(pink_cloth)",
+      "pick_up(pink_cloth)",
+      "move_to(pink_cloth, box)",
+      "place(pink_cloth, box)",
+      "move_to(yellow_cloth)",
+      "grasp(yellow_cloth)",
+      "pick_up(yellow_cloth)",
+      "move_to(yellow_cloth, box)",
+      "place(yellow_cloth, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, clothes_on_the_chair)": [
+        "grasp(peach_colored_cloth)"
+      ],
+      "grasp(peach_colored_cloth)": [
+        "pick_up(peach_colored_cloth)"
+      ],
+      "pick_up(peach_colored_cloth)": [
+        "move_to(peach_colored_cloth, box)"
+      ],
+      "move_to(peach_colored_cloth, box)": [
+        "place(peach_colored_cloth, box)"
+      ],
+      "place(peach_colored_cloth, box)": [],
+      "move_to(none,pink_cloth)": [
+        "grasp(pink_cloth)"
+      ],
+      "grasp(pink_cloth)": [
+        "pick_up(pink_cloth)"
+      ],
+      "pick_up(pink_cloth)": [
+        "move_to(pink_cloth, box)"
+      ],
+      "move_to(pink_cloth, box)": [
+        "place(pink_cloth, box)"
+      ],
+      "place(pink_cloth, box)": [
+        "move_to(yellow_cloth)"
+      ],
+      "move_to(yellow_cloth)": [
+        "grasp(yellow_cloth)"
+      ],
+      "grasp(yellow_cloth)": [
+        "pick_up(yellow_cloth)"
+      ],
+      "pick_up(yellow_cloth)": [
+        "move_to(yellow_cloth, box)"
+      ],
+      "move_to(yellow_cloth, box)": [
+        "place(yellow_cloth, box)"
+      ],
+      "place(yellow_cloth, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_2171.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_2941",
+    "actions_list": [
+      "move_to(none,first_nail_polish_bottle)",
+      "grasp(first_nail_polish_bottle)",
+      "pick_up(first_nail_polish_bottle)",
+      "move_to(first_nail_polish_bottle, bag)",
+      "place(first_nail_polish_bottle, bag)",
+      "move_to(none,second_nail_polish_bottle)",
+      "grasp(second_nail_polish_bottle)",
+      "pick_up(second_nail_polish_bottle)",
+      "move_to(second_nail_polish_bottle, bag)",
+      "place(second_nail_polish_bottle, bag)",
+      "move_to(third_nail_polish_bottle)",
+      "grasp(third_nail_polish_bottle)",
+      "pick_up(third_nail_polish_bottle)",
+      "move_to(third_nail_polish_bottle, bag)",
+      "place(third_nail_polish_bottle, bag)",
+      "move_to(none,fourth_nail_polish_bottle)",
+      "grasp(fourth_nail_polish_bottle)",
+      "pick_up(fourth_nail_polish_bottle)",
+      "move_to(fourth_nail_polish_bottle, bag)",
+      "place(fourth_nail_polish_bottle, bag)",
+      "move_to(none,fifth_nail_polish_bottle)",
+      "grasp(fifth_nail_polish_bottle)",
+      "pick_up(fifth_nail_polish_bottle)",
+      "move_to(fifth_nail_polish_bottle, bag)",
+      "place(fifth_nail_polish_bottle, bag)",
+      "move_to(none,sixth_nail_polish_bottle)",
+      "grasp(sixth_nail_polish_bottle)",
+      "pick_up(sixth_nail_polish_bottle)",
+      "move_to(sixth_nail_polish_bottle, bag)",
+      "place(sixth_nail_polish_bottle, bag)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_nail_polish_bottle)": [
+        "grasp(first_nail_polish_bottle)"
+      ],
+      "grasp(first_nail_polish_bottle)": [
+        "pick_up(first_nail_polish_bottle)"
+      ],
+      "pick_up(first_nail_polish_bottle)": [
+        "move_to(first_nail_polish_bottle, bag)"
+      ],
+      "move_to(first_nail_polish_bottle, bag)": [
+        "place(first_nail_polish_bottle, bag)"
+      ],
+      "place(first_nail_polish_bottle, bag)": [],
+      "move_to(none,second_nail_polish_bottle)": [
+        "grasp(second_nail_polish_bottle)"
+      ],
+      "grasp(second_nail_polish_bottle)": [
+        "pick_up(second_nail_polish_bottle)"
+      ],
+      "pick_up(second_nail_polish_bottle)": [
+        "move_to(second_nail_polish_bottle, bag)"
+      ],
+      "move_to(second_nail_polish_bottle, bag)": [
+        "place(second_nail_polish_bottle, bag)"
+      ],
+      "place(second_nail_polish_bottle, bag)": [],
+      "move_to(third_nail_polish_bottle)": [
+        "grasp(third_nail_polish_bottle)"
+      ],
+      "grasp(third_nail_polish_bottle)": [
+        "pick_up(third_nail_polish_bottle)"
+      ],
+      "pick_up(third_nail_polish_bottle)": [
+        "move_to(third_nail_polish_bottle, bag)"
+      ],
+      "move_to(third_nail_polish_bottle, bag)": [
+        "place(third_nail_polish_bottle, bag)"
+      ],
+      "place(third_nail_polish_bottle, bag)": [],
+      "move_to(none,fourth_nail_polish_bottle)": [
+        "grasp(fourth_nail_polish_bottle)"
+      ],
+      "grasp(fourth_nail_polish_bottle)": [
+        "pick_up(fourth_nail_polish_bottle)"
+      ],
+      "pick_up(fourth_nail_polish_bottle)": [
+        "move_to(fourth_nail_polish_bottle, bag)"
+      ],
+      "move_to(fourth_nail_polish_bottle, bag)": [
+        "place(fourth_nail_polish_bottle, bag)"
+      ],
+      "place(fourth_nail_polish_bottle, bag)": [],
+      "move_to(none,fifth_nail_polish_bottle)": [
+        "grasp(fifth_nail_polish_bottle)"
+      ],
+      "grasp(fifth_nail_polish_bottle)": [
+        "pick_up(fifth_nail_polish_bottle)"
+      ],
+      "pick_up(fifth_nail_polish_bottle)": [
+        "move_to(fifth_nail_polish_bottle, bag)"
+      ],
+      "move_to(fifth_nail_polish_bottle, bag)": [
+        "place(fifth_nail_polish_bottle, bag)"
+      ],
+      "place(fifth_nail_polish_bottle, bag)": [],
+      "move_to(none,sixth_nail_polish_bottle)": [
+        "grasp(sixth_nail_polish_bottle)"
+      ],
+      "grasp(sixth_nail_polish_bottle)": [
+        "pick_up(sixth_nail_polish_bottle)"
+      ],
+      "pick_up(sixth_nail_polish_bottle)": [
+        "move_to(sixth_nail_polish_bottle, bag)"
+      ],
+      "move_to(sixth_nail_polish_bottle, bag)": [
+        "place(sixth_nail_polish_bottle, bag)"
+      ],
+      "place(sixth_nail_polish_bottle, bag)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_2941.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_3977",
+    "actions_list": [
+      "move_to(none,first_bottle)",
+      "grasp(first_bottle)",
+      "pick_up(first_bottle)",
+      "move_to(first_bottle, counter)",
+      "place(first_bottle, counter)",
+      "move_to(none,second_bottle)",
+      "grasp(second_bottle)",
+      "pick_up(second_bottle)",
+      "move_to(second_bottle, counter)",
+      "place(second_bottle, counter)",
+      "move_to(none,third_bottle)",
+      "grasp(third_bottle)",
+      "pick_up(third_bottle)",
+      "move_to(third_bottle, counter)",
+      "place(third_bottle, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_bottle)": [
+        "grasp(first_bottle)"
+      ],
+      "grasp(first_bottle)": [
+        "pick_up(first_bottle)"
+      ],
+      "pick_up(first_bottle)": [
+        "move_to(first_bottle, counter)"
+      ],
+      "move_to(first_bottle, counter)": [
+        "place(first_bottle, counter)"
+      ],
+      "place(first_bottle, counter)": [],
+      "move_to(none,second_bottle)": [
+        "grasp(second_bottle)"
+      ],
+      "grasp(second_bottle)": [
+        "pick_up(second_bottle)"
+      ],
+      "pick_up(second_bottle)": [
+        "move_to(second_bottle, counter)"
+      ],
+      "move_to(second_bottle, counter)": [
+        "place(second_bottle, counter)"
+      ],
+      "place(second_bottle, counter)": [],
+      "move_to(none,third_bottle)": [
+        "grasp(third_bottle)"
+      ],
+      "grasp(third_bottle)": [
+        "pick_up(third_bottle)"
+      ],
+      "pick_up(third_bottle)": [
+        "move_to(third_bottle, counter)"
+      ],
+      "move_to(third_bottle, counter)": [
+        "place(third_bottle, counter)"
+      ],
+      "place(third_bottle, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_3977.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_7598",
+    "actions_list": [
+      "move_to(none, clothes)",
+      "grasp(orange_clothes)",
+      "pick_up(orange_clothes)",
+      "move_to(orange_clothes, box)",
+      "place(orange_clothes, box)",
+      "move_to(none, clothes)",
+      "grasp(green_clothes)",
+      "pick_up(green_clothes)",
+      "move_to(green_clothes, box)",
+      "place(green_clothes, box)",
+      "move_to(none, clothes)",
+      "grasp(red_clothes)",
+      "pick_up(red_clothes)",
+      "move_to(red_clothes, box)",
+      "place(red_clothes, box)"
+    ],
+    "gt_dag": {
+      "grasp(orange_clothes)": [
+        "pick_up(orange_clothes)"
+      ],
+      "pick_up(orange_clothes)": [
+        "move_to(orange_clothes, box)"
+      ],
+      "move_to(orange_clothes, box)": [
+        "place(orange_clothes, box)"
+      ],
+      "place(orange_clothes, box)": [],
+      "grasp(green_clothes)": [
+        "pick_up(green_clothes)"
+      ],
+      "pick_up(green_clothes)": [
+        "move_to(green_clothes, box)"
+      ],
+      "move_to(green_clothes, box)": [
+        "place(green_clothes, box)"
+      ],
+      "place(green_clothes, box)": [],
+      "move_to(none, clothes)": [
+        "grasp(orange_clothes)"
+      ],
+      "grasp(red_clothes)": [
+        "pick_up(red_clothes)"
+      ],
+      "pick_up(red_clothes)": [
+        "move_to(red_clothes, box)"
+      ],
+      "move_to(red_clothes, box)": [
+        "place(red_clothes, box)"
+      ],
+      "place(red_clothes, box)": [],
+      "move_to(none, clothes)<1>": [
+        "grasp(green_clothes)"
+      ],
+      "move_to(none, clothes)<2>": [
+        "grasp(red_clothes)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_7598.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_8057",
+    "actions_list": [
+      "move_to(none,green_pear)",
+      "grasp(green_pear)",
+      "pick_up(green_pear)",
+      "move_to(green_pear, black_bowl)",
+      "place(green_pear, black_bowl)",
+      "move_to(none,yellow_pear)",
+      "grasp(yellow_pear)",
+      "pick_up(yellow_pear)",
+      "move_to(yellow_pear,black_bowl)",
+      "place(yellow_pear, black_bowl)",
+      "move_to(none,strawberry)",
+      "grasp(strawberry)",
+      "pick_up(strawberry)",
+      "move_to(strawberry, black_bowl)",
+      "place(strawberry, black_bowl)",
+      "move_to(none,big_orange_object)",
+      "grasp(big_orange_object)",
+      "pick_up(big_orange_object)",
+      "move_to(big_orange_object, black_bowl)",
+      "place(big_orange_object, black_bowl)",
+      "move_to(none,big_orange_object)",
+      "grasp(big_orange_object)",
+      "pick_up(big_orange_object)",
+      "move_to(big_orange_object, black_bowl)",
+      "place(big_orange_object, black_bowl)",
+      "move_to(none,banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, black_bowl)",
+      "place(banana, black_bowl)",
+      "move_to(none,green_ball)",
+      "grasp(green_ball)",
+      "pick_up(green_ball)",
+      "move_to(green_ball, black_bowl)",
+      "place(green_ball, black_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none,green_pear)": [
+        "grasp(green_pear)"
+      ],
+      "grasp(green_pear)": [
+        "pick_up(green_pear)"
+      ],
+      "pick_up(green_pear)": [
+        "move_to(green_pear, black_bowl)"
+      ],
+      "move_to(green_pear, black_bowl)": [
+        "place(green_pear, black_bowl)"
+      ],
+      "place(green_pear, black_bowl)": [],
+      "move_to(none,yellow_pear)": [
+        "grasp(yellow_pear)"
+      ],
+      "grasp(yellow_pear)": [
+        "pick_up(yellow_pear)"
+      ],
+      "pick_up(yellow_pear)": [
+        "move_to(yellow_pear,black_bowl)"
+      ],
+      "move_to(yellow_pear,black_bowl)": [
+        "place(yellow_pear, black_bowl)"
+      ],
+      "place(yellow_pear, black_bowl)": [],
+      "move_to(none,strawberry)": [
+        "grasp(strawberry)"
+      ],
+      "grasp(strawberry)": [
+        "pick_up(strawberry)"
+      ],
+      "pick_up(strawberry)": [
+        "move_to(strawberry, black_bowl)"
+      ],
+      "move_to(strawberry, black_bowl)": [
+        "place(strawberry, black_bowl)"
+      ],
+      "place(strawberry, black_bowl)": [],
+      "move_to(none,big_orange_object)": [
+        "grasp(big_orange_object)"
+      ],
+      "grasp(big_orange_object)": [
+        "pick_up(big_orange_object)"
+      ],
+      "pick_up(big_orange_object)": [
+        "move_to(big_orange_object, black_bowl)"
+      ],
+      "move_to(big_orange_object, black_bowl)": [
+        "place(big_orange_object, black_bowl)"
+      ],
+      "place(big_orange_object, black_bowl)": [],
+      "move_to(none,banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, black_bowl)"
+      ],
+      "move_to(banana, black_bowl)": [
+        "place(banana, black_bowl)"
+      ],
+      "place(banana, black_bowl)": [],
+      "move_to(none,green_ball)": [
+        "grasp(green_ball)"
+      ],
+      "grasp(green_ball)": [
+        "pick_up(green_ball)"
+      ],
+      "pick_up(green_ball)": [
+        "move_to(green_ball, black_bowl)"
+      ],
+      "move_to(green_ball, black_bowl)": [
+        "place(green_ball, black_bowl)"
+      ],
+      "place(green_ball, black_bowl)": [],
+      "move_to(none,big_orange_object)<1>": [
+        "grasp(big_orange_object)<1>"
+      ],
+      "pick_up(big_orange_object)<1>": [
+        "move_to(big_orange_object, black_bowl)<1>"
+      ],
+      "grasp(big_orange_object)<1>": [
+        "pick_up(big_orange_object)<1>"
+      ],
+      "move_to(big_orange_object, black_bowl)<1>": [
+        "place(big_orange_object, black_bowl)<1>"
+      ],
+      "place(big_orange_object, black_bowl)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_8057.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_10284",
+    "actions_list": [
+      "move_to(none,first_cup)",
+      "grasp(first_cup)",
+      "pick_up(first_cup)",
+      "move_to(first_cup, another_cup)",
+      "place(first_cup, another_cup)",
+      "move_to(none,stacked_cups)",
+      "grasp(stacked_cups)",
+      "pick_up(stacked_cups)",
+      "move_to(stacked_cups, another_cup)",
+      "place(stacked_cups, another_cup)",
+      "move_to(none,stacked_cups)",
+      "grasp(stacked_cups)",
+      "pick_up(stacked_cups)",
+      "move_to(stacked_cups, another_cup)",
+      "place(stacked_cups, another_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_cup)": [
+        "grasp(first_cup)"
+      ],
+      "grasp(first_cup)": [
+        "pick_up(first_cup)"
+      ],
+      "pick_up(first_cup)": [
+        "move_to(first_cup, another_cup)"
+      ],
+      "move_to(first_cup, another_cup)": [
+        "place(first_cup, another_cup)"
+      ],
+      "place(first_cup, another_cup)": [
+        "move_to(none,stacked_cups)"
+      ],
+      "move_to(none,stacked_cups)": [
+        "grasp(stacked_cups)"
+      ],
+      "grasp(stacked_cups)": [
+        "pick_up(stacked_cups)"
+      ],
+      "pick_up(stacked_cups)": [
+        "move_to(stacked_cups, another_cup)"
+      ],
+      "move_to(stacked_cups, another_cup)": [
+        "place(stacked_cups, another_cup)"
+      ],
+      "place(stacked_cups, another_cup)": [
+        "move_to(none,stacked_cups)<1>"
+      ],
+      "move_to(none,stacked_cups)<1>": [
+        "grasp(stacked_cups)<1>"
+      ],
+      "grasp(stacked_cups)<1>": [
+        "pick_up(stacked_cups)<1>"
+      ],
+      "pick_up(stacked_cups)<1>": [
+        "move_to(stacked_cups, another_cup)<1>"
+      ],
+      "move_to(stacked_cups, another_cup)<1>": [
+        "place(stacked_cups, another_cup)<1>"
+      ],
+      "place(stacked_cups, another_cup)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_10284.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_10611",
+    "actions_list": [
+      "move_to(none, white_cap)",
+      "grasp(white_cap)",
+      "pick_up(white_cap)",
+      "move_to(white_cap, left_side_of_a_surface)",
+      "place(white_cap, left_side_of_a_surface)",
+      "move_to(none, light_blue_cap)",
+      "move_to(none,light_blue_cap)",
+      "grasp(light_blue_cap)",
+      "pick_up(light_blue_cap)",
+      "move_to(light_blue_cap, left_side_of_a_surface)",
+      "place(light_blue_cap, left_side_of_a_surface)",
+      "move_to(none, navy_blue_cap)",
+      "grasp(navy_blue_cap)",
+      "pick_up(navy_blue_cap)",
+      "move_to(navy_blue_cap, left_side_of_a_surface)",
+      "place(navy_blue_cap, left_side_of_a_surface)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_cap)": [
+        "grasp(white_cap)"
+      ],
+      "grasp(white_cap)": [
+        "pick_up(white_cap)"
+      ],
+      "pick_up(white_cap)": [
+        "move_to(white_cap, left_side_of_a_surface)"
+      ],
+      "move_to(white_cap, left_side_of_a_surface)": [
+        "place(white_cap, left_side_of_a_surface)"
+      ],
+      "place(white_cap, left_side_of_a_surface)": [
+        "move_to(none, light_blue_cap)"
+      ],
+      "move_to(none, light_blue_cap)": [
+        "move_to(none,light_blue_cap)"
+      ],
+      "move_to(none,light_blue_cap)": [
+        "grasp(light_blue_cap)"
+      ],
+      "grasp(light_blue_cap)": [
+        "pick_up(light_blue_cap)"
+      ],
+      "pick_up(light_blue_cap)": [
+        "move_to(light_blue_cap, left_side_of_a_surface)"
+      ],
+      "move_to(light_blue_cap, left_side_of_a_surface)": [
+        "place(light_blue_cap, left_side_of_a_surface)"
+      ],
+      "place(light_blue_cap, left_side_of_a_surface)": [
+        "move_to(none, navy_blue_cap)"
+      ],
+      "move_to(none, navy_blue_cap)": [
+        "grasp(navy_blue_cap)"
+      ],
+      "grasp(navy_blue_cap)": [
+        "pick_up(navy_blue_cap)"
+      ],
+      "pick_up(navy_blue_cap)": [
+        "move_to(navy_blue_cap, left_side_of_a_surface)"
+      ],
+      "move_to(navy_blue_cap, left_side_of_a_surface)": [
+        "place(navy_blue_cap, left_side_of_a_surface)"
+      ],
+      "place(navy_blue_cap, left_side_of_a_surface)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_10611.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12116",
+    "actions_list": [
+      "move_to(none, purple_plushie)",
+      "grasp(purple_plushie)",
+      "pick_up(purple_plushie)",
+      "move_to(purple_plushie, plate)",
+      "place(purple_plushie, plate)",
+      "move_to(none, orange_plushie)",
+      "grasp(orange_plushie)",
+      "pick_up(orange_plushie)",
+      "move_to(orange_plushie, plate)",
+      "place(orange_plushie, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, purple_plushie)": [
+        "grasp(purple_plushie)"
+      ],
+      "grasp(purple_plushie)": [
+        "pick_up(purple_plushie)"
+      ],
+      "pick_up(purple_plushie)": [
+        "move_to(purple_plushie, plate)"
+      ],
+      "move_to(purple_plushie, plate)": [
+        "place(purple_plushie, plate)"
+      ],
+      "place(purple_plushie, plate)": [],
+      "move_to(none, orange_plushie)": [
+        "grasp(orange_plushie)"
+      ],
+      "grasp(orange_plushie)": [
+        "pick_up(orange_plushie)"
+      ],
+      "pick_up(orange_plushie)": [
+        "move_to(orange_plushie, plate)"
+      ],
+      "move_to(orange_plushie, plate)": [
+        "place(orange_plushie, plate)"
+      ],
+      "place(orange_plushie, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_12116.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12255",
+    "actions_list": [
+      "move_to(none,banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, table)",
+      "place(banana, table)",
+      "move_to(none,pear)",
+      "grasp(pear)",
+      "pick_up(pear)",
+      "move_to(pear, table)",
+      "place(pear, table)",
+      "move_to(none,green_ball)",
+      "grasp(green_ball)",
+      "pick_up(green_ball)",
+      "move_to(green_ball, table)",
+      "place(green_ball, table)",
+      "move_to(none,orange)",
+      "grasp(orange)",
+      "pick_up(orange)",
+      "move_to(orange, table)",
+      "place(orange, table)",
+      "move_to(none,big_orange)",
+      "grasp(big_orange)",
+      "pick_up(big_orange)",
+      "move_to(big_orange, table)",
+      "place(big_orange, table)",
+      "move_to(none,porous_balls)",
+      "grasp(porous_balls)",
+      "pick_up(porous_balls)",
+      "move_to(porous_balls, table)",
+      "place(porous_balls, table)",
+      "move_to(none,carrot)",
+      "grasp(carrot)",
+      "pick_up(carrot)",
+      "move_to(carrot, table)",
+      "place(carrot, table)",
+      "move_to(none,yellow_ball)",
+      "grasp(yellow_ball)",
+      "pick_up(yellow_ball)",
+      "move_to(yellow_ball, table)",
+      "place(yellow_ball, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, table)"
+      ],
+      "move_to(banana, table)": [
+        "place(banana, table)"
+      ],
+      "place(banana, table)": [],
+      "move_to(none,pear)": [
+        "grasp(pear)"
+      ],
+      "grasp(pear)": [
+        "pick_up(pear)"
+      ],
+      "pick_up(pear)": [
+        "move_to(pear, table)"
+      ],
+      "move_to(pear, table)": [
+        "place(pear, table)"
+      ],
+      "place(pear, table)": [],
+      "move_to(none,green_ball)": [
+        "grasp(green_ball)"
+      ],
+      "grasp(green_ball)": [
+        "pick_up(green_ball)"
+      ],
+      "pick_up(green_ball)": [
+        "move_to(green_ball, table)"
+      ],
+      "move_to(green_ball, table)": [
+        "place(green_ball, table)"
+      ],
+      "place(green_ball, table)": [],
+      "move_to(none,orange)": [
+        "grasp(orange)"
+      ],
+      "grasp(orange)": [
+        "pick_up(orange)"
+      ],
+      "pick_up(orange)": [
+        "move_to(orange, table)"
+      ],
+      "move_to(orange, table)": [
+        "place(orange, table)"
+      ],
+      "place(orange, table)": [],
+      "move_to(none,big_orange)": [
+        "grasp(big_orange)"
+      ],
+      "grasp(big_orange)": [
+        "pick_up(big_orange)"
+      ],
+      "pick_up(big_orange)": [
+        "move_to(big_orange, table)"
+      ],
+      "move_to(big_orange, table)": [
+        "place(big_orange, table)"
+      ],
+      "place(big_orange, table)": [],
+      "move_to(none,porous_balls)": [
+        "grasp(porous_balls)"
+      ],
+      "grasp(porous_balls)": [
+        "pick_up(porous_balls)"
+      ],
+      "pick_up(porous_balls)": [
+        "move_to(porous_balls, table)"
+      ],
+      "move_to(porous_balls, table)": [
+        "place(porous_balls, table)"
+      ],
+      "place(porous_balls, table)": [],
+      "move_to(none,carrot)": [
+        "grasp(carrot)"
+      ],
+      "grasp(carrot)": [
+        "pick_up(carrot)"
+      ],
+      "pick_up(carrot)": [
+        "move_to(carrot, table)"
+      ],
+      "move_to(carrot, table)": [
+        "place(carrot, table)"
+      ],
+      "place(carrot, table)": [],
+      "move_to(none,yellow_ball)": [
+        "grasp(yellow_ball)"
+      ],
+      "grasp(yellow_ball)": [
+        "pick_up(yellow_ball)"
+      ],
+      "pick_up(yellow_ball)": [
+        "move_to(yellow_ball, table)"
+      ],
+      "move_to(yellow_ball, table)": [
+        "place(yellow_ball, table)"
+      ],
+      "place(yellow_ball, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_12255.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_13700",
+    "actions_list": [
+      "move_to(none,stuffed_animal)",
+      "grasp(stuffed_animal)",
+      "pick_up(stuffed_animal)",
+      "move_to(stuffed_animal,table)",
+      "place(stuffed_animal,table)",
+      "move_to(spice_container)",
+      "grasp(spice_container)",
+      "pick_up(spice_container)",
+      "move_to(spice_container,table)",
+      "place(spice_container,table)",
+      "move_to(none,white_bottle)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "move_to(white_bottle,table)",
+      "place(white_bottle,table)",
+      "move_to(none,white_bottle)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "move_to(white_bottle,table)",
+      "place(white_bottle,table)",
+      "move_to(none,first_yellow_bottle)",
+      "grasp(first_yellow_bottle)",
+      "pick_up(first_yellow_bottle)",
+      "move_to(first_yellow_bottle,table)",
+      "place(first_yellow_bottle,table)",
+      "move_to(none,second_yellow_bottle)",
+      "grasp(second_yellow_bottle)",
+      "pick_up(second_yellow_bottle)",
+      "move_to(second_yellow_bottle,table)",
+      "place(second_yellow_bottle,table)",
+      "move_to(none,third_yellow_bottle)",
+      "grasp(third_yellow_bottle)",
+      "pick_up(third_yellow_bottle)",
+      "move_to(third_yellow_bottle,table)",
+      "place(third_yellow_bottle,table)",
+      "move_to(none,fourth_yellow_bottle)",
+      "grasp(fourth_yellow_bottle)",
+      "pick_up(fourth_yellow_bottle)",
+      "move_to(fourth_yellow_bottle,table)",
+      "place(fourth_yellow_bottle,table)",
+      "move_to(none,purple_object)",
+      "grasp(purple_object)",
+      "pick_up(purple_object)",
+      "move_to(purple_object,table)",
+      "place(purple_object,table)",
+      "move_to(none,orange_object)",
+      "grasp(orange_object)",
+      "pick_up(orange_object)",
+      "move_to(orange_object,table)",
+      "place(orange_object,table)"
+    ],
+    "gt_dag": {
+      "move_to(none,stuffed_animal)": [
+        "grasp(stuffed_animal)"
+      ],
+      "grasp(stuffed_animal)": [
+        "pick_up(stuffed_animal)"
+      ],
+      "pick_up(stuffed_animal)": [
+        "move_to(stuffed_animal,table)"
+      ],
+      "move_to(stuffed_animal,table)": [
+        "place(stuffed_animal,table)"
+      ],
+      "place(stuffed_animal,table)": [
+        "move_to(spice_container)",
+        "move_to(none,white_bottle)",
+        "move_to(none,white_bottle)<1>",
+        "move_to(none,first_yellow_bottle)",
+        "move_to(none,second_yellow_bottle)",
+        "move_to(none,third_yellow_bottle)",
+        "move_to(none,fourth_yellow_bottle)",
+        "move_to(none,purple_object)",
+        "move_to(none,orange_object)"
+      ],
+      "move_to(spice_container)": [
+        "grasp(spice_container)"
+      ],
+      "pick_up(spice_container)": [
+        "move_to(spice_container,table)"
+      ],
+      "move_to(spice_container,table)": [
+        "place(spice_container,table)"
+      ],
+      "place(spice_container,table)": [],
+      "move_to(none,white_bottle)": [
+        "grasp(white_bottle)"
+      ],
+      "grasp(white_bottle)": [
+        "pick_up(white_bottle)"
+      ],
+      "pick_up(white_bottle)": [
+        "move_to(white_bottle,table)"
+      ],
+      "move_to(white_bottle,table)": [
+        "place(white_bottle,table)"
+      ],
+      "place(white_bottle,table)": [],
+      "move_to(none,first_yellow_bottle)": [
+        "grasp(first_yellow_bottle)"
+      ],
+      "grasp(first_yellow_bottle)": [
+        "pick_up(first_yellow_bottle)"
+      ],
+      "pick_up(first_yellow_bottle)": [
+        "move_to(first_yellow_bottle,table)"
+      ],
+      "move_to(first_yellow_bottle,table)": [
+        "place(first_yellow_bottle,table)"
+      ],
+      "place(first_yellow_bottle,table)": [],
+      "move_to(none,second_yellow_bottle)": [
+        "grasp(second_yellow_bottle)"
+      ],
+      "grasp(second_yellow_bottle)": [
+        "pick_up(second_yellow_bottle)"
+      ],
+      "pick_up(second_yellow_bottle)": [
+        "move_to(second_yellow_bottle,table)"
+      ],
+      "move_to(second_yellow_bottle,table)": [
+        "place(second_yellow_bottle,table)"
+      ],
+      "place(second_yellow_bottle,table)": [],
+      "move_to(none,third_yellow_bottle)": [
+        "grasp(third_yellow_bottle)"
+      ],
+      "grasp(third_yellow_bottle)": [
+        "pick_up(third_yellow_bottle)"
+      ],
+      "pick_up(third_yellow_bottle)": [
+        "move_to(third_yellow_bottle,table)"
+      ],
+      "move_to(third_yellow_bottle,table)": [
+        "place(third_yellow_bottle,table)"
+      ],
+      "place(third_yellow_bottle,table)": [],
+      "move_to(none,fourth_yellow_bottle)": [
+        "grasp(fourth_yellow_bottle)"
+      ],
+      "grasp(fourth_yellow_bottle)": [
+        "pick_up(fourth_yellow_bottle)"
+      ],
+      "pick_up(fourth_yellow_bottle)": [
+        "move_to(fourth_yellow_bottle,table)"
+      ],
+      "move_to(fourth_yellow_bottle,table)": [
+        "place(fourth_yellow_bottle,table)"
+      ],
+      "place(fourth_yellow_bottle,table)": [],
+      "move_to(none,purple_object)": [
+        "grasp(purple_object)"
+      ],
+      "grasp(purple_object)": [
+        "pick_up(purple_object)"
+      ],
+      "pick_up(purple_object)": [
+        "move_to(purple_object,table)"
+      ],
+      "move_to(purple_object,table)": [
+        "place(purple_object,table)"
+      ],
+      "place(purple_object,table)": [],
+      "move_to(none,orange_object)": [
+        "grasp(orange_object)"
+      ],
+      "grasp(orange_object)": [
+        "pick_up(orange_object)"
+      ],
+      "pick_up(orange_object)": [
+        "move_to(orange_object,table)"
+      ],
+      "move_to(orange_object,table)": [
+        "place(orange_object,table)"
+      ],
+      "place(orange_object,table)": [],
+      "move_to(none,white_bottle)<1>": [
+        "grasp(white_bottle)<1>"
+      ],
+      "grasp(white_bottle)<1>": [
+        "pick_up(white_bottle)<1>"
+      ],
+      "pick_up(white_bottle)<1>": [
+        "move_to(white_bottle,table)<1>"
+      ],
+      "move_to(white_bottle,table)<1>": [
+        "place(white_bottle,table)<1>"
+      ],
+      "place(white_bottle,table)<1>": [],
+      "grasp(spice_container)": [
+        "pick_up(spice_container)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_13700.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_14085",
+    "actions_list": [
+      "move_to(none, blue_cup)",
+      "grasp(blue_cup)",
+      "pick_up(blue_cup)",
+      "move_to(blue_cup, yellow_cup)",
+      "place(blue_cup, yellow_cup)",
+      "move_to(none, stacked_cups)",
+      "grasp(stacked_cups)",
+      "pick_up(stacked_cups)",
+      "move_to(stacked_cups, orange_cup)",
+      "place(stacked_cups, orange_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, blue_cup)": [
+        "grasp(blue_cup)"
+      ],
+      "grasp(blue_cup)": [
+        "pick_up(blue_cup)"
+      ],
+      "pick_up(blue_cup)": [
+        "move_to(blue_cup, yellow_cup)"
+      ],
+      "move_to(blue_cup, yellow_cup)": [
+        "place(blue_cup, yellow_cup)"
+      ],
+      "place(blue_cup, yellow_cup)": [
+        "move_to(none, stacked_cups)"
+      ],
+      "move_to(none, stacked_cups)": [
+        "grasp(stacked_cups)"
+      ],
+      "grasp(stacked_cups)": [
+        "pick_up(stacked_cups)"
+      ],
+      "pick_up(stacked_cups)": [
+        "move_to(stacked_cups, orange_cup)"
+      ],
+      "move_to(stacked_cups, orange_cup)": [
+        "place(stacked_cups, orange_cup)"
+      ],
+      "place(stacked_cups, orange_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_14085.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_14166",
+    "actions_list": [
+      "move_to(none, towels)",
+      "grasp(yellow_towel)",
+      "pick_up(yellow_towel)",
+      "move_to(yellow_towel, bar)",
+      "place(yellow_towel, bar)",
+      "move_to(none,gray_towel)",
+      "grasp(gray_towel)",
+      "pick_up(gray_towel)",
+      "move_to(gray_towel, black_seat)",
+      "place(gray_towel, black_seat)",
+      "move_to(none,brown_towel)",
+      "grasp(brown_towel)",
+      "pick_up(brown_towel)",
+      "move_to(brown_towel, black_seat)",
+      "place(brown_towel, black_seat)"
+    ],
+    "gt_dag": {
+      "move_to(none, towels)": [
+        "grasp(yellow_towel)"
+      ],
+      "grasp(yellow_towel)": [
+        "pick_up(yellow_towel)"
+      ],
+      "pick_up(yellow_towel)": [
+        "move_to(yellow_towel, bar)"
+      ],
+      "move_to(yellow_towel, bar)": [
+        "place(yellow_towel, bar)"
+      ],
+      "place(yellow_towel, bar)": [],
+      "move_to(none,gray_towel)": [
+        "grasp(gray_towel)"
+      ],
+      "grasp(gray_towel)": [
+        "pick_up(gray_towel)"
+      ],
+      "pick_up(gray_towel)": [
+        "move_to(gray_towel, black_seat)"
+      ],
+      "move_to(gray_towel, black_seat)": [
+        "place(gray_towel, black_seat)"
+      ],
+      "place(gray_towel, black_seat)": [],
+      "move_to(none,brown_towel)": [
+        "grasp(brown_towel)"
+      ],
+      "grasp(brown_towel)": [
+        "pick_up(brown_towel)"
+      ],
+      "pick_up(brown_towel)": [
+        "move_to(brown_towel, black_seat)"
+      ],
+      "move_to(brown_towel, black_seat)": [
+        "place(brown_towel, black_seat)"
+      ],
+      "place(brown_towel, black_seat)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_14166.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_15523",
+    "actions_list": [
+      "move_to(none,yellow_ball)",
+      "grasp(yellow_ball)",
+      "pick_up(yellow_ball)",
+      "move_to(yellow_ball, left_bowl)",
+      "place(yellow_ball, left_bowl)",
+      "move_to(none,other_yellow_ball)",
+      "grasp(other_yellow_ball)",
+      "pick_up(other_yellow_ball)",
+      "move_to(other_yellow_ball, left_bowl)",
+      "place(other_yellow_ball, left_bowl)",
+      "move_to(none,strawberry)",
+      "grasp(strawberry)",
+      "pick_up(strawberry)",
+      "move_to(strawberry, left_bowl)",
+      "place(strawberry, left_bowl)",
+      "move_to(none,green_pear)",
+      "grasp(green_pear)",
+      "pick_up(green_pear)",
+      "move_to(green_pear, left_bowl)",
+      "place(green_pear, left_bowl)",
+      "move_to(none,green_ball)",
+      "grasp(green_ball)",
+      "pick_up(green_ball)",
+      "move_to(green_ball, left_bowl)",
+      "place(green_ball, left_bowl)",
+      "move_to(none,porous_ball)",
+      "grasp(porous_ball)",
+      "pick_up(porous_ball)",
+      "move_to(porous_ball, left_bowl)",
+      "place(porous_ball, left_bowl)",
+      "move_to(none,orange_object)",
+      "grasp(orange_object)",
+      "pick_up(orange_object)",
+      "move_to(orange_object, left_bowl)",
+      "place(orange_object, left_bowl)",
+      "move_to(none,banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, left_bowl)",
+      "place(banana, left_bowl)",
+      "move_to(none,turnip)",
+      "grasp(turnip)",
+      "pick_up(turnip)",
+      "move_to(turnip, left_bowl)",
+      "place(turnip, left_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none,yellow_ball)": [
+        "grasp(yellow_ball)"
+      ],
+      "grasp(yellow_ball)": [
+        "pick_up(yellow_ball)"
+      ],
+      "pick_up(yellow_ball)": [
+        "move_to(yellow_ball, left_bowl)"
+      ],
+      "move_to(yellow_ball, left_bowl)": [
+        "place(yellow_ball, left_bowl)"
+      ],
+      "place(yellow_ball, left_bowl)": [],
+      "move_to(none,other_yellow_ball)": [
+        "grasp(other_yellow_ball)"
+      ],
+      "grasp(other_yellow_ball)": [
+        "pick_up(other_yellow_ball)"
+      ],
+      "pick_up(other_yellow_ball)": [
+        "move_to(other_yellow_ball, left_bowl)"
+      ],
+      "move_to(other_yellow_ball, left_bowl)": [
+        "place(other_yellow_ball, left_bowl)"
+      ],
+      "place(other_yellow_ball, left_bowl)": [],
+      "move_to(none,strawberry)": [
+        "grasp(strawberry)"
+      ],
+      "grasp(strawberry)": [
+        "pick_up(strawberry)"
+      ],
+      "pick_up(strawberry)": [
+        "move_to(strawberry, left_bowl)"
+      ],
+      "move_to(strawberry, left_bowl)": [
+        "place(strawberry, left_bowl)"
+      ],
+      "place(strawberry, left_bowl)": [],
+      "move_to(none,green_pear)": [
+        "grasp(green_pear)"
+      ],
+      "grasp(green_pear)": [
+        "pick_up(green_pear)"
+      ],
+      "pick_up(green_pear)": [
+        "move_to(green_pear, left_bowl)"
+      ],
+      "move_to(green_pear, left_bowl)": [
+        "place(green_pear, left_bowl)"
+      ],
+      "place(green_pear, left_bowl)": [],
+      "move_to(none,green_ball)": [
+        "grasp(green_ball)"
+      ],
+      "grasp(green_ball)": [
+        "pick_up(green_ball)"
+      ],
+      "pick_up(green_ball)": [
+        "move_to(green_ball, left_bowl)"
+      ],
+      "move_to(green_ball, left_bowl)": [
+        "place(green_ball, left_bowl)"
+      ],
+      "place(green_ball, left_bowl)": [],
+      "move_to(none,porous_ball)": [
+        "grasp(porous_ball)"
+      ],
+      "grasp(porous_ball)": [
+        "pick_up(porous_ball)"
+      ],
+      "pick_up(porous_ball)": [
+        "move_to(porous_ball, left_bowl)"
+      ],
+      "move_to(porous_ball, left_bowl)": [
+        "place(porous_ball, left_bowl)"
+      ],
+      "place(porous_ball, left_bowl)": [],
+      "move_to(none,orange_object)": [
+        "grasp(orange_object)"
+      ],
+      "grasp(orange_object)": [
+        "pick_up(orange_object)"
+      ],
+      "pick_up(orange_object)": [
+        "move_to(orange_object, left_bowl)"
+      ],
+      "move_to(orange_object, left_bowl)": [
+        "place(orange_object, left_bowl)"
+      ],
+      "place(orange_object, left_bowl)": [],
+      "move_to(none,banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, left_bowl)"
+      ],
+      "move_to(banana, left_bowl)": [
+        "place(banana, left_bowl)"
+      ],
+      "place(banana, left_bowl)": [],
+      "move_to(none,turnip)": [
+        "grasp(turnip)"
+      ],
+      "grasp(turnip)": [
+        "pick_up(turnip)"
+      ],
+      "pick_up(turnip)": [
+        "move_to(turnip, left_bowl)"
+      ],
+      "move_to(turnip, left_bowl)": [
+        "place(turnip, left_bowl)"
+      ],
+      "place(turnip, left_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_15523.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_16123",
+    "actions_list": [
+      "move_to(none,first_cloth)",
+      "grasp(first_cloth)",
+      "pick_up(first_cloth)",
+      "move_to(first_cloth, pile)",
+      "place(first_cloth, pile)",
+      "move_to(none,second_cloth)",
+      "grasp(second_cloth)",
+      "pick_up(second_cloth)",
+      "move_to(second_cloth, pile)",
+      "place(second_cloth, pile)",
+      "move_to(none,third_cloth)",
+      "grasp(third_cloth)",
+      "pick_up(third_cloth)",
+      "move_to(third_cloth, pile)",
+      "place(third_cloth, pile)",
+      "move_to(none,fourth_cloth)",
+      "grasp(fourth_cloth)",
+      "pick_up(fourth_cloth)",
+      "move_to(fourth_cloth, pile)",
+      "place(fourth_cloth, pile)",
+      "move_to(none,fifth_cloth)",
+      "grasp(fifth_cloth)",
+      "pick_up(fifth_cloth)",
+      "move_to(fifth_cloth, pile)",
+      "place(fifth_cloth, pile)",
+      "move_to(none,carrot_doll)",
+      "grasp(carrot_doll)",
+      "pick_up(carrot_doll)",
+      "move_to(carrot_doll, pile)",
+      "place(carrot_doll, pile)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_cloth)": [
+        "grasp(first_cloth) "
+      ],
+      "grasp(first_cloth) ": [
+        "pick_up(first_cloth)"
+      ],
+      "pick_up(first_cloth)": [
+        "move_to(first_cloth, pile)"
+      ],
+      "move_to(first_cloth, pile)": [
+        "place(first_cloth, pile)"
+      ],
+      "place(first_cloth, pile)": [],
+      "move_to(none,second_cloth)": [
+        "grasp(second_cloth)"
+      ],
+      "grasp(second_cloth)": [
+        "pick_up(second_cloth)"
+      ],
+      "pick_up(second_cloth)": [
+        "move_to(second_cloth, pile)"
+      ],
+      "move_to(second_cloth, pile)": [
+        "place(second_cloth, pile)"
+      ],
+      "place(second_cloth, pile)": [],
+      "move_to(none,third_cloth)": [
+        " grasp(third_cloth)"
+      ],
+      " grasp(third_cloth)": [
+        "pick_up(third_cloth)"
+      ],
+      "pick_up(third_cloth)": [
+        "move_to(third_cloth, pile)"
+      ],
+      "move_to(third_cloth, pile)": [
+        "place(third_cloth, pile)"
+      ],
+      "place(third_cloth, pile)": [],
+      "move_to(none,fourth_cloth) ": [
+        "grasp(fourth_cloth) "
+      ],
+      "grasp(fourth_cloth) ": [
+        "pick_up(fourth_cloth)"
+      ],
+      "pick_up(fourth_cloth)": [
+        "move_to(fourth_cloth, pile) "
+      ],
+      "move_to(fourth_cloth, pile) ": [
+        "place(fourth_cloth, pile) "
+      ],
+      "place(fourth_cloth, pile) ": [],
+      "move_to(none,fifth_cloth)": [
+        "grasp(fifth_cloth) "
+      ],
+      "grasp(fifth_cloth) ": [
+        "pick_up(fifth_cloth)"
+      ],
+      "pick_up(fifth_cloth)": [
+        "move_to(fifth_cloth, pile)"
+      ],
+      "move_to(fifth_cloth, pile)": [
+        "place(fifth_cloth, pile) "
+      ],
+      "place(fifth_cloth, pile) ": [],
+      "move_to(none,carrot_doll)": [
+        "grasp(carrot_doll)"
+      ],
+      "grasp(carrot_doll)": [
+        "pick_up(carrot_doll) "
+      ],
+      "pick_up(carrot_doll) ": [
+        "move_to(carrot_doll, pile)"
+      ],
+      "move_to(carrot_doll, pile)": [
+        " place(carrot_doll, pile)"
+      ],
+      " place(carrot_doll, pile)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_16123.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_16944",
+    "actions_list": [
+      "move_to(none,orange_sponge)",
+      "grasp(orange_sponge)",
+      "pick_up(orange_sponge)",
+      "move_to(orange_sponge, cabinet)",
+      "place(orange_sponge, cabinet)",
+      "move_to(none, green_sponge)",
+      "grasp(green_sponge)",
+      "pick_up(green_sponge)",
+      "move_to(green_sponge, cabinet)",
+      "place(green_sponge, cabinet)",
+      "move_to(none, cabinet_door_handle)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door, close)"
+    ],
+    "gt_dag": {
+      "move_to(none,orange_sponge)": [
+        "grasp(orange_sponge)"
+      ],
+      "grasp(orange_sponge)": [
+        "pick_up(orange_sponge)"
+      ],
+      "pick_up(orange_sponge)": [
+        "move_to(orange_sponge, cabinet)"
+      ],
+      "move_to(orange_sponge, cabinet)": [
+        "place(orange_sponge, cabinet)"
+      ],
+      "place(orange_sponge, cabinet)": [],
+      "move_to(none, green_sponge)": [
+        "grasp(green_sponge)"
+      ],
+      "grasp(green_sponge)": [
+        "pick_up(green_sponge)"
+      ],
+      "pick_up(green_sponge)": [
+        "move_to(green_sponge, cabinet)"
+      ],
+      "move_to(green_sponge, cabinet)": [
+        "place(green_sponge, cabinet)"
+      ],
+      "place(green_sponge, cabinet)": [],
+      "move_to(none, cabinet_door_handle)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door, close)"
+      ],
+      "push(cabinet_door, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_16944.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_17188",
+    "actions_list": [
+      "move_to(none,first_toy)",
+      "grasp(first_toy)",
+      "pick_up(first_toy)",
+      "move_to(first_toy, stove)",
+      "place(first_toy, stove)",
+      "move_to(none,second_toy)",
+      "grasp(second_toy)",
+      "pick_up(second_toy)",
+      "move_to(second_toy, stove)",
+      "place(second_toy, stove)",
+      "move_to(none,orange_towel)",
+      "grasp(orange_towel)",
+      "wipe(orange_towel, water, left_side_of_the_countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_toy)": [
+        "grasp(first_toy)"
+      ],
+      "grasp(first_toy)": [
+        "pick_up(first_toy)"
+      ],
+      "pick_up(first_toy)": [
+        "move_to(first_toy, stove)"
+      ],
+      "move_to(first_toy, stove)": [
+        "place(first_toy, stove)"
+      ],
+      "place(first_toy, stove)": [],
+      "move_to(none,second_toy)": [
+        "grasp(second_toy)"
+      ],
+      "grasp(second_toy)": [
+        "pick_up(second_toy)"
+      ],
+      "pick_up(second_toy)": [
+        "move_to(second_toy, stove)"
+      ],
+      "move_to(second_toy, stove)": [
+        "place(second_toy, stove)"
+      ],
+      "place(second_toy, stove)": [],
+      "move_to(none,orange_towel)": [
+        "grasp(orange_towel)"
+      ],
+      "grasp(orange_towel)": [
+        "wipe(orange_towel, water, left_side_of_the_countertop)"
+      ],
+      "wipe(orange_towel, water, left_side_of_the_countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_17188.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_17997",
+    "actions_list": [
+      "move_to(none, garlic_cloves_on_the_plate)",
+      "grasp(first_garlic_clove)",
+      "pick_up(first_garlic_clove)",
+      "move_to(first_garlic_clove, counter)",
+      "place(first_garlic_clove, counter)",
+      "grasp(second_garlic_clove)",
+      "pick_up(second_garlic_clove)",
+      "move_to(second_garlic_clove, counter)",
+      "place(second_garlic_clove, counter)",
+      "grasp(fourth_garlic_clove)",
+      "pick_up(fourth_garlic_clove)",
+      "move_to(fourth_garlic_clove, counter)",
+      "place(fourth_garlic_clove, counter)",
+      "grasp(fifth_garlic_clove)",
+      "pick_up(fifth_garlic_clove)",
+      "move_to(fifth_garlic_clove, counter)",
+      "place(fifth_garlic_clove, counter)",
+      "grasp(sixth_garlic_clove)",
+      "pick_up(sixth_garlic_clove)",
+      "move_to(sixth_garlic_clove, counter)",
+      "place(sixth_garlic_clove, counter)",
+      "grasp(seventh_garlic_clove)",
+      "pick_up(seventh_garlic_clove)",
+      "move_to(seventh_garlic_clove, counter)",
+      "place(seventh_garlic_clove, counter)",
+      "grasp(eighth_garlic_clove)",
+      "pick_up(eighth_garlic_clove)",
+      "move_to(eighth_garlic_clove, counter)",
+      "place(eighth_garlic_clove, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, garlic_cloves_on_the_plate)": [
+        "grasp(first_garlic_clove)"
+      ],
+      "grasp(first_garlic_clove)": [
+        "pick_up(first_garlic_clove)"
+      ],
+      "pick_up(first_garlic_clove)": [
+        "move_to(first_garlic_clove, counter)"
+      ],
+      "move_to(first_garlic_clove, counter)": [
+        "place(first_garlic_clove, counter)"
+      ],
+      "place(first_garlic_clove, counter)": [],
+      "grasp(second_garlic_clove)": [
+        "pick_up(second_garlic_clove)"
+      ],
+      "pick_up(second_garlic_clove)": [
+        "move_to(second_garlic_clove, counter)"
+      ],
+      "move_to(second_garlic_clove, counter)": [
+        "place(second_garlic_clove, counter)"
+      ],
+      "place(second_garlic_clove, counter)": [],
+      "grasp(fourth_garlic_clove)": [
+        "pick_up(fourth_garlic_clove)"
+      ],
+      "pick_up(fourth_garlic_clove)": [
+        "move_to(fourth_garlic_clove, counter)"
+      ],
+      "move_to(fourth_garlic_clove, counter)": [
+        "place(fourth_garlic_clove, counter)"
+      ],
+      "place(fourth_garlic_clove, counter)": [],
+      "grasp(fifth_garlic_clove)": [
+        "pick_up(fifth_garlic_clove)"
+      ],
+      "pick_up(fifth_garlic_clove)": [
+        "move_to(fifth_garlic_clove, counter)"
+      ],
+      "move_to(fifth_garlic_clove, counter)": [
+        "place(fifth_garlic_clove, counter)"
+      ],
+      "place(fifth_garlic_clove, counter)": [],
+      "grasp(sixth_garlic_clove)": [
+        "pick_up(sixth_garlic_clove)"
+      ],
+      "pick_up(sixth_garlic_clove)": [
+        "move_to(sixth_garlic_clove, counter)"
+      ],
+      "move_to(sixth_garlic_clove, counter)": [
+        "place(sixth_garlic_clove, counter)"
+      ],
+      "place(sixth_garlic_clove, counter)": [],
+      "grasp(seventh_garlic_clove)": [
+        "pick_up(seventh_garlic_clove)"
+      ],
+      "pick_up(seventh_garlic_clove)": [
+        "move_to(seventh_garlic_clove, counter)"
+      ],
+      "move_to(seventh_garlic_clove, counter)": [
+        "place(seventh_garlic_clove, counter)"
+      ],
+      "place(seventh_garlic_clove, counter)": [],
+      "grasp(eighth_garlic_clove)": [
+        "pick_up(eighth_garlic_clove)"
+      ],
+      "pick_up(eighth_garlic_clove)": [
+        "move_to(eighth_garlic_clove, counter)"
+      ],
+      "move_to(eighth_garlic_clove, counter)": [
+        "place(eighth_garlic_clove, counter)"
+      ],
+      "place(eighth_garlic_clove, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_17997.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_19596",
+    "actions_list": [
+      "move_to(none,first_green_block)",
+      "grasp(first_green_block)",
+      "pick_up(first_green_block)",
+      "move_to(first_green_block, table)",
+      "place(first_green_block, table)",
+      "grasp(second_green_block)",
+      "pick_up(second_green_block)",
+      "move_to(second_green_block, table)",
+      "place(second_green_block, table)",
+      "grasp(first_yellow_block)",
+      "pick_up(first_yellow_block)",
+      "move_to(first_yellow_block, table)",
+      "place(first_yellow_block, table)",
+      "grasp(first_orange_block)",
+      "pick_up(first_orange_block)",
+      "move_to(first_orange_block, table)",
+      "place(first_orange_block, table)",
+      "grasp(second_orange_block)",
+      "pick_up(second_orange_block)",
+      "move_to(second_orange_block, table)",
+      "place(second_orange_block, table)",
+      "grasp(second_yellow_block)",
+      "pick_up(second_yellow_block)",
+      "move_to(second_yellow_block, table)",
+      "place(second_yellow_block, table)",
+      "grasp(third_green_block)",
+      "pick_up(third_green_block)",
+      "move_to(third_green_block, table)",
+      "place(third_green_block, table)",
+      "grasp(orange_object)",
+      "pick_up(orange_object)",
+      "move_to(orange_object, table)",
+      "place(orange_object, table)",
+      "grasp(third_orange_block)",
+      "pick_up(third_orange_block)",
+      "move_to(third_orange_block, table)",
+      "place(third_orange_block, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_green_block)": [
+        "grasp(first_green_block)"
+      ],
+      "grasp(first_green_block)": [
+        "pick_up(first_green_block)"
+      ],
+      "pick_up(first_green_block)": [
+        "move_to(first_green_block, table)"
+      ],
+      "move_to(first_green_block, table)": [
+        "place(first_green_block, table)"
+      ],
+      "place(first_green_block, table)": [],
+      "grasp(second_green_block)": [
+        "pick_up(second_green_block)"
+      ],
+      "pick_up(second_green_block)": [
+        "move_to(second_green_block, table)"
+      ],
+      "move_to(second_green_block, table)": [
+        "place(second_green_block, table)"
+      ],
+      "place(second_green_block, table)": [],
+      "grasp(first_yellow_block)": [
+        "pick_up(first_yellow_block)"
+      ],
+      "pick_up(first_yellow_block)": [
+        "move_to(first_yellow_block, table)"
+      ],
+      "move_to(first_yellow_block, table)": [
+        "place(first_yellow_block, table)"
+      ],
+      "place(first_yellow_block, table)": [],
+      "grasp(first_orange_block)": [
+        "pick_up(first_orange_block)"
+      ],
+      "pick_up(first_orange_block)": [
+        "move_to(first_orange_block, table)"
+      ],
+      "move_to(first_orange_block, table)": [
+        "place(first_orange_block, table)"
+      ],
+      "place(first_orange_block, table)": [],
+      "grasp(second_orange_block)": [
+        "pick_up(second_orange_block)"
+      ],
+      "pick_up(second_orange_block)": [
+        "move_to(second_orange_block, table)"
+      ],
+      "move_to(second_orange_block, table)": [
+        "place(second_orange_block, table)"
+      ],
+      "place(second_orange_block, table)": [],
+      "grasp(second_yellow_block)": [
+        "pick_up(second_yellow_block)"
+      ],
+      "pick_up(second_yellow_block)": [
+        "move_to(second_yellow_block, table)"
+      ],
+      "move_to(second_yellow_block, table)": [
+        "place(second_yellow_block, table)"
+      ],
+      "place(second_yellow_block, table)": [],
+      "grasp(third_green_block)": [
+        "pick_up(third_green_block)"
+      ],
+      "pick_up(third_green_block)": [
+        "move_to(third_green_block, table)"
+      ],
+      "move_to(third_green_block, table)": [
+        "place(third_green_block, table)"
+      ],
+      "place(third_green_block, table)": [],
+      "grasp(orange_object)": [
+        "pick_up(orange_object)"
+      ],
+      "pick_up(orange_object)": [
+        "move_to(orange_object, table)"
+      ],
+      "move_to(orange_object, table)": [
+        "place(orange_object, table)"
+      ],
+      "place(orange_object, table)": [],
+      "grasp(third_orange_block)": [
+        "pick_up(third_orange_block)"
+      ],
+      "pick_up(third_orange_block)": [
+        "move_to(third_orange_block, table)"
+      ],
+      "move_to(third_orange_block, table)": [
+        "place(third_orange_block, table)"
+      ],
+      "place(third_orange_block, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_19596.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_20988",
+    "actions_list": [
+      "move_to(none, plastic_bag)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "move_to(white_bottle, table)",
+      "place(white_bottle, table)",
+      "grasp(brown_bottle)",
+      "pick_up(brown_bottle)",
+      "move_to(brown_bottle, table)",
+      "place(brown_bottle, table)",
+      "grasp(second_white_bottle)",
+      "pick_up(second_white_bottle)",
+      "move_to(second_white_bottle, table)",
+      "place(second_white_bottle, table)",
+      "grasp(green_bottle)",
+      "pick_up(green_bottle)",
+      "move_to(green_bottle, table)",
+      "place(green_bottle, table)",
+      "grasp(first_orange_bottle)",
+      "pick_up(first_orange_bottle)",
+      "move_to(first_orange_bottle, table)",
+      "place(first_orange_bottle, table)",
+      "grasp(second_orange_bottle)",
+      "pick_up(second_orange_bottle)",
+      "move_to(second_orange_bottle, table)",
+      "place(second_orange_bottle, table)",
+      "grasp(third_orange_bottle)",
+      "pick_up(third_orange_bottle)",
+      "move_to(third_orange_bottle, table)",
+      "place(third_orange_bottle, table)",
+      "grasp(purple_bottle)",
+      "pick_up(purple_bottle)",
+      "move_to(purple_bottle, table)",
+      "place(purple_bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, plastic_bag)": [
+        "grasp(white_bottle)"
+      ],
+      "grasp(white_bottle)": [
+        "pick_up(white_bottle)"
+      ],
+      "pick_up(white_bottle)": [
+        "move_to(white_bottle, table)"
+      ],
+      "move_to(white_bottle, table)": [
+        "place(white_bottle, table)"
+      ],
+      "place(white_bottle, table)": [],
+      "grasp(brown_bottle)": [
+        "pick_up(brown_bottle)"
+      ],
+      "pick_up(brown_bottle)": [
+        "move_to(brown_bottle, table)"
+      ],
+      "move_to(brown_bottle, table)": [
+        "place(brown_bottle, table)"
+      ],
+      "place(brown_bottle, table)": [],
+      "grasp(second_white_bottle)": [
+        "pick_up(second_white_bottle)"
+      ],
+      "pick_up(second_white_bottle)": [
+        "move_to(second_white_bottle, table)"
+      ],
+      "move_to(second_white_bottle, table)": [
+        "place(second_white_bottle, table)"
+      ],
+      "place(second_white_bottle, table)": [],
+      "grasp(green_bottle)": [
+        "pick_up(green_bottle)"
+      ],
+      "pick_up(green_bottle)": [
+        "move_to(green_bottle, table)"
+      ],
+      "move_to(green_bottle, table)": [
+        "place(green_bottle, table)"
+      ],
+      "place(green_bottle, table)": [],
+      "grasp(first_orange_bottle)": [
+        "pick_up(first_orange_bottle)"
+      ],
+      "pick_up(first_orange_bottle)": [
+        "move_to(first_orange_bottle, table)"
+      ],
+      "move_to(first_orange_bottle, table)": [
+        "place(first_orange_bottle, table)"
+      ],
+      "place(first_orange_bottle, table)": [],
+      "grasp(second_orange_bottle)": [
+        "pick_up(second_orange_bottle)"
+      ],
+      "pick_up(second_orange_bottle)": [
+        "move_to(second_orange_bottle, table)"
+      ],
+      "move_to(second_orange_bottle, table)": [
+        "place(second_orange_bottle, table)"
+      ],
+      "place(second_orange_bottle, table)": [],
+      "grasp(third_orange_bottle)": [
+        "pick_up(third_orange_bottle)"
+      ],
+      "pick_up(third_orange_bottle)": [
+        "move_to(third_orange_bottle, table)"
+      ],
+      "move_to(third_orange_bottle, table)": [
+        "place(third_orange_bottle, table)"
+      ],
+      "place(third_orange_bottle, table)": [],
+      "grasp(purple_bottle)": [
+        "pick_up(purple_bottle)"
+      ],
+      "pick_up(purple_bottle)": [
+        "move_to(purple_bottle, table)"
+      ],
+      "move_to(purple_bottle, table)": [
+        "place(purple_bottle, table)"
+      ],
+      "place(purple_bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_20988.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_23589",
+    "actions_list": [
+      "grasp(stuffed_animal)",
+      "pick_up(stuffed_animal)",
+      "move_to(stuffed_animal, table)",
+      "place(stuffed_animal, table)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "move_to(white_bottle, table)",
+      "place(white_bottle, table)",
+      "grasp(brown_container)",
+      "pick_up(brown_container)",
+      "move_to(brown_container, table)",
+      "place(brown_container, table)",
+      "grasp(first_orange_container)",
+      "pick_up(first_orange_container)",
+      "place(first_orange_container, table)",
+      "place(first_orange_container, table)",
+      "grasp(second_orange_container)",
+      "pick_up(second_orange_container)",
+      "move_to(second_orange_container, table)",
+      "place(second_orange_container, table)",
+      "grasp(third_orange_container)",
+      "pick_up(third_orange_container)",
+      "move_to(third_orange_container, table)",
+      "place(third_orange_container, table)",
+      "grasp(purple_container)",
+      "pick_up(purple_container)",
+      "move_to(purple_container, table)",
+      "place(purple_container, table)",
+      "grasp(yellow_object)",
+      "pick_up(yellow_object)",
+      "move_to(yellow_object, table)",
+      "place(yellow_object, table)",
+      "grasp(orange_object)",
+      "pick_up(orange_object)",
+      "move_to(orange_object, table)",
+      "place(orange_object, table)"
+    ],
+    "gt_dag": {
+      "grasp(stuffed_animal)": [
+        "pick_up(stuffed_animal)"
+      ],
+      "pick_up(stuffed_animal)": [
+        "move_to(stuffed_animal, table)"
+      ],
+      "move_to(stuffed_animal, table)": [
+        "place(stuffed_animal, table)"
+      ],
+      "place(stuffed_animal, table)": [],
+      "grasp(white_bottle)": [
+        "pick_up(white_bottle)"
+      ],
+      "pick_up(white_bottle)": [
+        "move_to(white_bottle, table)"
+      ],
+      "move_to(white_bottle, table)": [
+        "place(white_bottle, table)"
+      ],
+      "place(white_bottle, table)": [],
+      "grasp(brown_container)": [
+        "pick_up(brown_container)"
+      ],
+      "pick_up(brown_container)": [
+        "move_to(brown_container, table)"
+      ],
+      "move_to(brown_container, table)": [
+        "place(brown_container, table)"
+      ],
+      "place(brown_container, table)": [],
+      "grasp(first_orange_container)": [
+        "pick_up(first_orange_container)"
+      ],
+      "pick_up(first_orange_container)": [
+        "place(first_orange_container, table)"
+      ],
+      "place(first_orange_container, table)": [],
+      "grasp(second_orange_container)": [
+        "pick_up(second_orange_container)"
+      ],
+      "pick_up(second_orange_container)": [
+        "move_to(second_orange_container, table)"
+      ],
+      "move_to(second_orange_container, table)": [
+        "place(second_orange_container, table)"
+      ],
+      "place(second_orange_container, table)": [],
+      "grasp(third_orange_container)": [
+        "pick_up(third_orange_container)"
+      ],
+      "pick_up(third_orange_container)": [
+        "move_to(third_orange_container, table)"
+      ],
+      "move_to(third_orange_container, table)": [
+        "place(third_orange_container, table)"
+      ],
+      "place(third_orange_container, table)": [],
+      "grasp(purple_container)": [
+        "pick_up(purple_container)"
+      ],
+      "pick_up(purple_container)": [
+        "move_to(purple_container, table)"
+      ],
+      "move_to(purple_container, table)": [
+        "place(purple_container, table)"
+      ],
+      "place(purple_container, table)": [],
+      "grasp(yellow_object)": [
+        "pick_up(yellow_object)"
+      ],
+      "pick_up(yellow_object)": [
+        "move_to(yellow_object, table)"
+      ],
+      "move_to(yellow_object, table)": [
+        "place(yellow_object, table)"
+      ],
+      "place(yellow_object, table)": [],
+      "grasp(orange_object)": [
+        "pick_up(orange_object)"
+      ],
+      "pick_up(orange_object)": [
+        "move_to(orange_object, table)"
+      ],
+      "move_to(orange_object, table)": [
+        "place(orange_object, table)"
+      ],
+      "place(orange_object, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_23589.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_24678",
+    "actions_list": [
+      "move_to(none, first_rope)",
+      "grasp(first_rope)",
+      "pick_up(first_rope)",
+      "move_to(first_rope, box)",
+      "place(first_rope, box)",
+      "move_to(none, second_rope)",
+      "grasp(second_rope)",
+      "pick_up(second_rope)",
+      "move_to(second_rope, box)",
+      "place(second_rope, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_rope)": [
+        "grasp(first_rope)"
+      ],
+      "grasp(first_rope)": [
+        "pick_up(first_rope)"
+      ],
+      "pick_up(first_rope)": [
+        "move_to(first_rope, box)"
+      ],
+      "move_to(first_rope, box)": [
+        "place(first_rope, box)"
+      ],
+      "place(first_rope, box)": [],
+      "move_to(none, second_rope)": [
+        "grasp(second_rope)"
+      ],
+      "grasp(second_rope)": [
+        "pick_up(second_rope)"
+      ],
+      "pick_up(second_rope)": [
+        "move_to(second_rope, box)"
+      ],
+      "move_to(second_rope, box)": [
+        "place(second_rope, box)"
+      ],
+      "place(second_rope, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_24678.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_27565",
+    "actions_list": [
+      "grasp(red_bottle)",
+      "pick_up(red_bottle)",
+      "move_to(red_bottle, bag)",
+      "place(red_bottle, bag)",
+      "grasp(first_orange_bottle)",
+      "pick_up(first_orange_bottle)",
+      "move_to(first_orange_bottle, bag)",
+      "place(first_orange_bottle, bag)",
+      "grasp(second_orange_bottle)",
+      "pick_up(second_orange_bottle)",
+      "move_to(second_orange_bottle, bag)",
+      "place(second_orange_bottle, bag)",
+      "grasp(third_orange_bottle)",
+      "pick_up(third_orange_bottle)",
+      "move_to(third_orange_bottle, bag)",
+      "place(third_orange_bottle, bag)",
+      "grasp(purple_bottle)",
+      "pick_up(purple_bottle)",
+      "move_to(purple_bottle, bag)",
+      "place(purple_bottle, bag)",
+      "grasp(first_white_bottle)",
+      "pick_up(first_white_bottle)",
+      "move_to(first_white_bottle, bag)",
+      "place(first_white_bottle, bag)",
+      "grasp(second_white_bottle)",
+      "pick_up(second_white_bottle)",
+      "move_to(second_white_bottle, bag)",
+      "place(second_white_bottle, bag)",
+      "grasp(block)",
+      "pick_up(block)",
+      "move_to(block, bag)",
+      "place(block, bag)"
+    ],
+    "gt_dag": {
+      "grasp(red_bottle)": [
+        "pick_up(red_bottle)"
+      ],
+      "pick_up(red_bottle)": [
+        "move_to(red_bottle, bag)"
+      ],
+      "move_to(red_bottle, bag)": [
+        "place(red_bottle, bag)"
+      ],
+      "place(red_bottle, bag)": [],
+      "grasp(first_orange_bottle)": [
+        "pick_up(first_orange_bottle)"
+      ],
+      "pick_up(first_orange_bottle)": [
+        "move_to(first_orange_bottle, bag)"
+      ],
+      "move_to(first_orange_bottle, bag)": [
+        "place(first_orange_bottle, bag)"
+      ],
+      "place(first_orange_bottle, bag)": [],
+      "grasp(second_orange_bottle)": [
+        "pick_up(second_orange_bottle)"
+      ],
+      "pick_up(second_orange_bottle)": [
+        "move_to(second_orange_bottle, bag)"
+      ],
+      "move_to(second_orange_bottle, bag)": [
+        "place(second_orange_bottle, bag)"
+      ],
+      "place(second_orange_bottle, bag)": [],
+      "grasp(third_orange_bottle)": [
+        "pick_up(third_orange_bottle)"
+      ],
+      "pick_up(third_orange_bottle)": [
+        "move_to(third_orange_bottle, bag)"
+      ],
+      "move_to(third_orange_bottle, bag)": [
+        "place(third_orange_bottle, bag)"
+      ],
+      "place(third_orange_bottle, bag)": [],
+      "grasp(purple_bottle)": [
+        "pick_up(purple_bottle)"
+      ],
+      "pick_up(purple_bottle)": [
+        "move_to(purple_bottle, bag)"
+      ],
+      "move_to(purple_bottle, bag)": [
+        "place(purple_bottle, bag)"
+      ],
+      "place(purple_bottle, bag)": [],
+      "grasp(first_white_bottle)": [
+        "pick_up(first_white_bottle)"
+      ],
+      "pick_up(first_white_bottle)": [
+        "move_to(first_white_bottle, bag)"
+      ],
+      "move_to(first_white_bottle, bag)": [
+        "place(first_white_bottle, bag)"
+      ],
+      "place(first_white_bottle, bag)": [],
+      "grasp(second_white_bottle)": [
+        "pick_up(second_white_bottle)"
+      ],
+      "pick_up(second_white_bottle)": [
+        "move_to(second_white_bottle, bag)"
+      ],
+      "move_to(second_white_bottle, bag)": [
+        "place(second_white_bottle, bag)"
+      ],
+      "place(second_white_bottle, bag)": [],
+      "grasp(block)": [
+        "pick_up(block)"
+      ],
+      "pick_up(block)": [
+        "move_to(block, bag)"
+      ],
+      "move_to(block, bag)": [
+        "place(block, bag)"
+      ],
+      "place(block, bag)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_27565.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_28401",
+    "actions_list": [
+      "grasp(orange_sponge)",
+      "pick_up(orange_sponge)",
+      "move_to(sponge, cabinet)",
+      "place(sponge, cabinet)",
+      "grasp(yellow_plushie)",
+      "pick_up(yellow_plushie)",
+      "move_to(plushie, cabinet)",
+      "place(plushie, cabinet)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door, close)"
+    ],
+    "gt_dag": {
+      "grasp(orange_sponge)": [
+        "pick_up(orange_sponge)"
+      ],
+      "pick_up(orange_sponge)": [
+        "move_to(sponge, cabinet)"
+      ],
+      "move_to(sponge, cabinet)": [
+        "place(sponge, cabinet)"
+      ],
+      "place(sponge, cabinet)": [],
+      "grasp(yellow_plushie)": [
+        "pick_up(yellow_plushie)"
+      ],
+      "pick_up(yellow_plushie)": [
+        "move_to(plushie, cabinet)"
+      ],
+      "move_to(plushie, cabinet)": [
+        "place(plushie, cabinet)"
+      ],
+      "place(plushie, cabinet)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door, close)"
+      ],
+      "push(cabinet_door, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_28401.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_29961",
+    "actions_list": [
+      "grasp(red_lego)",
+      "pick_up(red_lego)",
+      "move_to(red_lego, bowl)",
+      "place(red_lego, bowl)",
+      "move_to(none, bowl)",
+      "grasp(blue_lego)",
+      "pick_up(blue_lego)",
+      "move_to(blue_lego, bowl)",
+      "place(blue_lego, bowl)",
+      "move_to(none, bowl)",
+      "grasp(green_lego)",
+      "pick_up(green_lego)",
+      "move_to(green_lego, bowl)",
+      "place(green_lego, bowl)",
+      "move_to(none, bowl)",
+      "grasp(yellow_lego)",
+      "pick_up(yellow_lego)",
+      "move_to(yellow_lego, bowl)",
+      "place(yellow_lego, bowl)"
+    ],
+    "gt_dag": {
+      "grasp(red_lego)": [
+        "pick_up(red_lego)"
+      ],
+      "pick_up(red_lego)": [
+        "move_to(red_lego, bowl)"
+      ],
+      "move_to(red_lego, bowl)": [
+        "place(red_lego, bowl)"
+      ],
+      "place(red_lego, bowl)": [],
+      "grasp(blue_lego)": [
+        "pick_up(blue_lego)"
+      ],
+      "pick_up(blue_lego)": [
+        "move_to(blue_lego, bowl)"
+      ],
+      "move_to(blue_lego, bowl)": [
+        "place(blue_lego, bowl)"
+      ],
+      "place(blue_lego, bowl)": [],
+      "grasp(green_lego)": [
+        "pick_up(green_lego)"
+      ],
+      "pick_up(green_lego)": [
+        "move_to(green_lego, bowl)"
+      ],
+      "move_to(green_lego, bowl)": [
+        "place(green_lego, bowl)"
+      ],
+      "place(green_lego, bowl)": [],
+      "move_to(none, bowl)": [
+        "grasp(blue_lego)"
+      ],
+      "grasp(yellow_lego)": [
+        "pick_up(yellow_lego)"
+      ],
+      "pick_up(yellow_lego)": [
+        "move_to(yellow_lego, bowl)"
+      ],
+      "move_to(yellow_lego, bowl)": [
+        "place(yellow_lego, bowl)"
+      ],
+      "place(yellow_lego, bowl)": [],
+      "move_to(none, bowl)<1>": [
+        "grasp(green_lego)"
+      ],
+      "move_to(none, bowl)<2>": [
+        "grasp(yellow_lego)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_29961.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_30724",
+    "actions_list": [
+      "move_to(none, first_bowl)",
+      "grasp(first_bowl)",
+      "pick_up(first_bowl)",
+      "move_to(first_bowl, second_bowl)",
+      "place(first_bowl, second_bowl)",
+      "move_to(none, forks)",
+      "grasp(forks)",
+      "pick_up(forks)",
+      "move_to(forks, stacked_bowls)",
+      "place(forks, stacked_bowls)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_bowl)": [
+        "grasp(first_bowl)"
+      ],
+      "grasp(first_bowl)": [
+        "pick_up(first_bowl)"
+      ],
+      "pick_up(first_bowl)": [
+        "move_to(first_bowl, second_bowl)"
+      ],
+      "move_to(first_bowl, second_bowl)": [
+        "place(first_bowl, second_bowl)"
+      ],
+      "place(first_bowl, second_bowl)": [],
+      "move_to(none, forks)": [
+        "grasp(forks)"
+      ],
+      "grasp(forks)": [
+        "pick_up(forks)"
+      ],
+      "pick_up(forks)": [
+        "move_to(forks, stacked_bowls)"
+      ],
+      "move_to(forks, stacked_bowls)": [
+        "place(forks, stacked_bowls)"
+      ],
+      "place(forks, stacked_bowls)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_30724.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_32772",
+    "actions_list": [
+      "move_to(none, pear)",
+      "grasp(pear)",
+      "pick_up(pear)",
+      "move_to(pear, bowl)",
+      "place(pear, bowl)",
+      "move_to(none, first_yellow_ball)",
+      "grasp(first_yellow_ball)",
+      "pick_up(first_yellow_ball)",
+      "move_to(first_yellow_ball, bowl)",
+      "place(first_yellow_ball, bowl)",
+      "move_to(none, second_yellow_ball)",
+      "grasp(second_yellow_ball)",
+      "pick_up(second_yellow_ball)",
+      "move_to(second_yellow_ball, bowl)",
+      "place(second_yellow_ball, bowl)",
+      "move_to(none, second_yellow_ball)",
+      "grasp(second_yellow_ball)",
+      "pick_up(second_yellow_ball)",
+      "move_to(second_yellow_ball, bowl)",
+      "place(second_yellow_ball, bowl)",
+      "move_to(none, banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, bowl)",
+      "place(banana, bowl)",
+      "move_to(none, green_ball)",
+      "grasp(green_ball)",
+      "pick_up(green_ball)",
+      "move_to(green_ball, bowl)",
+      "place(green_ball, bowl)",
+      "move_to(none, porous_ball)",
+      "grasp(porous_ball)",
+      "pick_up(porous_ball)",
+      "move_to(porous_ball, bowl)",
+      "place(porous_ball, bowl)",
+      "move_to(none, turnip)",
+      "grasp(turnip)",
+      "pick_up(turnip)",
+      "move_to(turnip, bowl)",
+      "place(turnip, bowl)",
+      "move_to(none, apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple, bowl)",
+      "place(apple, bowl)",
+      "move_to(none, strawberry)",
+      "grasp(strawberry)",
+      "pick_up(strawberry)",
+      "move_to(strawberry, bowl)",
+      "place(strawberry, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, pear)": [
+        "grasp(pear)"
+      ],
+      "grasp(pear)": [
+        "pick_up(pear)"
+      ],
+      "pick_up(pear)": [
+        "move_to(pear, bowl)"
+      ],
+      "move_to(pear, bowl)": [
+        "place(pear, bowl)"
+      ],
+      "place(pear, bowl)": [],
+      "move_to(none, first_yellow_ball)": [
+        "grasp(first_yellow_ball)"
+      ],
+      "grasp(first_yellow_ball)": [
+        "pick_up(first_yellow_ball)"
+      ],
+      "pick_up(first_yellow_ball)": [
+        "move_to(first_yellow_ball, bowl)"
+      ],
+      "move_to(first_yellow_ball, bowl)": [
+        "place(first_yellow_ball, bowl)"
+      ],
+      "place(first_yellow_ball, bowl)": [],
+      "move_to(none, second_yellow_ball)": [
+        "grasp(second_yellow_ball)"
+      ],
+      "grasp(second_yellow_ball)": [
+        "pick_up(second_yellow_ball)"
+      ],
+      "pick_up(second_yellow_ball)": [
+        "move_to(second_yellow_ball, bowl)"
+      ],
+      "move_to(second_yellow_ball, bowl)": [
+        "place(second_yellow_ball, bowl)"
+      ],
+      "place(second_yellow_ball, bowl)": [],
+      "move_to(none, banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, bowl)"
+      ],
+      "move_to(banana, bowl)": [
+        "place(banana, bowl)"
+      ],
+      "place(banana, bowl)": [],
+      "move_to(none, green_ball)": [
+        "grasp(green_ball)"
+      ],
+      "grasp(green_ball)": [
+        "pick_up(green_ball)"
+      ],
+      "pick_up(green_ball)": [
+        "move_to(green_ball, bowl)"
+      ],
+      "move_to(green_ball, bowl)": [
+        "place(green_ball, bowl)"
+      ],
+      "place(green_ball, bowl)": [],
+      "move_to(none, porous_ball)": [
+        "grasp(porous_ball)"
+      ],
+      "grasp(porous_ball)": [
+        "pick_up(porous_ball)"
+      ],
+      "pick_up(porous_ball)": [
+        "move_to(porous_ball, bowl)"
+      ],
+      "move_to(porous_ball, bowl)": [
+        "place(porous_ball, bowl)"
+      ],
+      "place(porous_ball, bowl)": [],
+      "move_to(none, turnip)": [
+        "grasp(turnip)"
+      ],
+      "grasp(turnip)": [
+        "pick_up(turnip)"
+      ],
+      "pick_up(turnip)": [
+        "move_to(turnip, bowl)"
+      ],
+      "move_to(turnip, bowl)": [
+        "place(turnip, bowl)"
+      ],
+      "place(turnip, bowl)": [],
+      "move_to(none, apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple, bowl)"
+      ],
+      "move_to(apple, bowl)": [
+        "place(apple, bowl)"
+      ],
+      "place(apple, bowl)": [],
+      "move_to(none, strawberry)": [
+        "grasp(strawberry)"
+      ],
+      "grasp(strawberry)": [
+        "pick_up(strawberry)"
+      ],
+      "pick_up(strawberry)": [
+        "move_to(strawberry, bowl)"
+      ],
+      "move_to(strawberry, bowl)": [
+        "place(strawberry, bowl)"
+      ],
+      "place(strawberry, bowl)": [],
+      "move_to(none, second_yellow_ball)<1>": [
+        "grasp(second_yellow_ball)<1>"
+      ],
+      "grasp(second_yellow_ball)<1>": [
+        "pick_up(second_yellow_ball)<1>"
+      ],
+      "pick_up(second_yellow_ball)<1>": [
+        "move_to(second_yellow_ball, bowl)<1>"
+      ],
+      "move_to(second_yellow_ball, bowl)<1>": [
+        "place(second_yellow_ball, bowl)<1>"
+      ],
+      "place(second_yellow_ball, bowl)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_32772.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_34571",
+    "actions_list": [
+      "move_to(none,first_piece_of_paper)",
+      "grasp(first_piece_of_paper)",
+      "pick_up(first_piece_of_paper)",
+      "move_to(first_piece_of_paper, left_bin)",
+      "place(first_piece_of_paper, left_bin)",
+      "grasp(second_piece_of_paper)",
+      "pick_up(second_piece_of_paper)",
+      "move_to(second_piece_of_paper, left_bin)",
+      "place(second_piece_of_paper, left_bin)",
+      "grasp(third_piece_of_paper)",
+      "pick_up(third_piece_of_paper)",
+      "move_to(third_piece_of_paper, left_bin)",
+      "place(third_piece_of_paper, left_bin)",
+      "grasp(fourth_piece_of_paper)",
+      "pick_up(fourth_piece_of_paper)",
+      "move_to(fourth_piece_of_paper, left_bin)",
+      "place(fourth_piece_of_paper, left_bin)",
+      "grasp(fifth_piece_of_paper)",
+      "pick_up(fifth_piece_of_paper)",
+      "move_to(fifth_piece_of_paper, right_bin)",
+      "place(fifth_piece_of_paper, right_bin)",
+      "grasp(sixth_piece_of_paper)",
+      "pick_up(sixth_piece_of_paper)",
+      "move_to(sixth_piece_of_paper, left_bin)",
+      "place(sixth_piece_of_paper, left_bin)",
+      "grasp(seventh_piece_of_paper)",
+      "pick_up(seventh_piece_of_paper)",
+      "move_to(seventh_piece_of_paper, left_bin)",
+      "place(seventh_piece_of_paper, left_bin)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_piece_of_paper)": [
+        "grasp(first_piece_of_paper)"
+      ],
+      "grasp(first_piece_of_paper)": [
+        "pick_up(first_piece_of_paper)"
+      ],
+      "pick_up(first_piece_of_paper)": [
+        "move_to(first_piece_of_paper, left_bin)"
+      ],
+      "move_to(first_piece_of_paper, left_bin)": [
+        "place(first_piece_of_paper, left_bin)"
+      ],
+      "place(first_piece_of_paper, left_bin)": [],
+      "grasp(second_piece_of_paper)": [
+        "pick_up(second_piece_of_paper)"
+      ],
+      "pick_up(second_piece_of_paper)": [
+        "move_to(second_piece_of_paper, left_bin)"
+      ],
+      "move_to(second_piece_of_paper, left_bin)": [
+        "place(second_piece_of_paper, left_bin)"
+      ],
+      "place(second_piece_of_paper, left_bin)": [],
+      "grasp(third_piece_of_paper)": [
+        "pick_up(third_piece_of_paper)"
+      ],
+      "pick_up(third_piece_of_paper)": [
+        "move_to(third_piece_of_paper, left_bin)"
+      ],
+      "move_to(third_piece_of_paper, left_bin)": [
+        "place(third_piece_of_paper, left_bin)"
+      ],
+      "place(third_piece_of_paper, left_bin)": [],
+      "grasp(fourth_piece_of_paper)": [
+        "pick_up(fourth_piece_of_paper)"
+      ],
+      "pick_up(fourth_piece_of_paper)": [
+        "move_to(fourth_piece_of_paper, left_bin)"
+      ],
+      "move_to(fourth_piece_of_paper, left_bin)": [
+        "place(fourth_piece_of_paper, left_bin)"
+      ],
+      "place(fourth_piece_of_paper, left_bin)": [],
+      "grasp(fifth_piece_of_paper)": [
+        "pick_up(fifth_piece_of_paper)"
+      ],
+      "pick_up(fifth_piece_of_paper)": [
+        "move_to(fifth_piece_of_paper, right_bin)"
+      ],
+      "move_to(fifth_piece_of_paper, right_bin)": [
+        "place(fifth_piece_of_paper, right_bin)"
+      ],
+      "place(fifth_piece_of_paper, right_bin)": [],
+      "grasp(sixth_piece_of_paper)": [
+        "pick_up(sixth_piece_of_paper)"
+      ],
+      "pick_up(sixth_piece_of_paper)": [
+        "move_to(sixth_piece_of_paper, left_bin)"
+      ],
+      "move_to(sixth_piece_of_paper, left_bin)": [
+        "place(sixth_piece_of_paper, left_bin)"
+      ],
+      "place(sixth_piece_of_paper, left_bin)": [],
+      "grasp(seventh_piece_of_paper)": [
+        "pick_up(seventh_piece_of_paper)"
+      ],
+      "pick_up(seventh_piece_of_paper)": [
+        "move_to(seventh_piece_of_paper, left_bin)"
+      ],
+      "move_to(seventh_piece_of_paper, left_bin)": [
+        "place(seventh_piece_of_paper, left_bin)"
+      ],
+      "place(seventh_piece_of_paper, left_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_34571.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_35962",
+    "actions_list": [
+      "move_to(none, purple_ball)",
+      "grasp(purple_ball)",
+      "pick_up(purple_ball)",
+      "move_to(picked_ball, plate)",
+      "place(picked_ball, plate)",
+      "move_to(none, pink_ball)",
+      "grasp(pink_ball)",
+      "pick_up(pink_ball)",
+      "move_to(pink_ball, plate)",
+      "place(pink_ball, plate)",
+      "move_to(none, red_ball)",
+      "grasp(red_ball)",
+      "pick_up(red_ball)",
+      "move_to(red_ball, plate)",
+      "place(red_ball, plate)",
+      "move_to(none, yellow_ball)",
+      "grasp(yellow_ball)",
+      "pick_up(yellow_ball)",
+      "move_to(yellow_ball, plate)",
+      "place(yellow_ball, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, purple_ball)": [
+        "grasp(purple_ball)"
+      ],
+      "grasp(purple_ball)": [
+        "pick_up(purple_ball)"
+      ],
+      "pick_up(purple_ball)": [
+        "move_to(picked_ball, plate)"
+      ],
+      "move_to(picked_ball, plate)": [
+        "place(picked_ball, plate)"
+      ],
+      "place(picked_ball, plate)": [],
+      "move_to(none, pink_ball)": [
+        "grasp(pink_ball)"
+      ],
+      "grasp(pink_ball)": [
+        "pick_up(pink_ball)"
+      ],
+      "pick_up(pink_ball)": [
+        "move_to(pink_ball, plate)"
+      ],
+      "move_to(pink_ball, plate)": [
+        "place(pink_ball, plate)"
+      ],
+      "place(pink_ball, plate)": [],
+      "move_to(none, red_ball)": [
+        "grasp(red_ball)"
+      ],
+      "grasp(red_ball)": [
+        "pick_up(red_ball)"
+      ],
+      "pick_up(red_ball)": [
+        "move_to(red_ball, plate)"
+      ],
+      "move_to(red_ball, plate)": [
+        "place(red_ball, plate)"
+      ],
+      "place(red_ball, plate)": [],
+      "move_to(none, yellow_ball)": [
+        "grasp(yellow_ball)"
+      ],
+      "grasp(yellow_ball)": [
+        "pick_up(yellow_ball)"
+      ],
+      "pick_up(yellow_ball)": [
+        "move_to(yellow_ball, plate)"
+      ],
+      "move_to(yellow_ball, plate)": [
+        "place(yellow_ball, plate)"
+      ],
+      "place(yellow_ball, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_35962.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_36739",
+    "actions_list": [
+      "move_to(brown_cloth)",
+      "grasp(brown_cloth)",
+      "pick_up(brown_cloth)",
+      "place(brown_cloth, middle_of_the_table)",
+      "place(brown_cloth, middle_of_the_table)",
+      "move_to(white_cloth)",
+      "grasp(white_cloth)",
+      "pick_up(white_cloth)",
+      "place(white_cloth, middle_of_the_table)",
+      "place(white_cloth, middle_of_the_table)",
+      "move_to(yellow_cloth)",
+      "grasp(yellow_cloth)",
+      "pick_up(yellow_cloth)",
+      "place(yellow_cloth, middle_of_the_table)",
+      "place(yellow_cloth, middle_of_the_table)",
+      "move_to(red_cloth)",
+      "grasp(red_cloth)",
+      "pick_up(red_cloth)",
+      "place(red_cloth, middle_of_the_table)",
+      "place(red_cloth, middle_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(brown_cloth)": [
+        "grasp(brown_cloth)"
+      ],
+      "grasp(brown_cloth)": [
+        "pick_up(brown_cloth)"
+      ],
+      "pick_up(brown_cloth)": [
+        "place(brown_cloth, middle_of_the_table)"
+      ],
+      "place(brown_cloth, middle_of_the_table)": [],
+      "move_to(white_cloth)": [
+        "grasp(white_cloth)"
+      ],
+      "grasp(white_cloth)": [
+        "pick_up(white_cloth)"
+      ],
+      "pick_up(white_cloth)": [
+        "place(white_cloth, middle_of_the_table)"
+      ],
+      "place(white_cloth, middle_of_the_table)": [],
+      "move_to(yellow_cloth)": [
+        "grasp(yellow_cloth)"
+      ],
+      "grasp(yellow_cloth)": [
+        "pick_up(yellow_cloth)"
+      ],
+      "pick_up(yellow_cloth)": [
+        "place(yellow_cloth, middle_of_the_table)"
+      ],
+      "place(yellow_cloth, middle_of_the_table)": [],
+      "move_to(red_cloth)": [
+        "grasp(red_cloth)"
+      ],
+      "grasp(red_cloth)": [
+        "pick_up(red_cloth)"
+      ],
+      "pick_up(red_cloth)": [
+        "place(red_cloth, middle_of_the_table)"
+      ],
+      "place(red_cloth, middle_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_36739.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_38381",
+    "actions_list": [
+      "move_to(none, yellow_cloth)",
+      "grasp(yellow_cloth)",
+      "pick_up(yellow_cloth)",
+      "move_to(yellow_cloth, box)",
+      "place(yellow_cloth, box)",
+      "move_to(none, pink_cloth)",
+      "grasp(pink_cloth)",
+      "pick_up(pink_cloth)",
+      "move_to(pink_cloth, box)",
+      "place(pink_cloth, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, yellow_cloth)": [
+        "grasp(yellow_cloth)"
+      ],
+      "grasp(yellow_cloth)": [
+        "pick_up(yellow_cloth)"
+      ],
+      "pick_up(yellow_cloth)": [
+        "move_to(yellow_cloth, box)"
+      ],
+      "move_to(yellow_cloth, box)": [
+        "place(yellow_cloth, box)"
+      ],
+      "place(yellow_cloth, box)": [],
+      "move_to(none, pink_cloth)": [
+        "grasp(pink_cloth)"
+      ],
+      "grasp(pink_cloth)": [
+        "pick_up(pink_cloth)"
+      ],
+      "pick_up(pink_cloth)": [
+        "move_to(pink_cloth, box)"
+      ],
+      "move_to(pink_cloth, box)": [
+        "place(pink_cloth, box)"
+      ],
+      "place(pink_cloth, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_38381.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_39667",
+    "actions_list": [
+      "move_to(none, banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, table)",
+      "place(banana, table)",
+      "move_to(none, strawberry)",
+      "grasp(strawberry)",
+      "pick_up(strawberry)",
+      "move_to(strawberry, table)",
+      "place(strawberry, table)",
+      "move_to(none, pear)",
+      "grasp(pear)",
+      "pick_up(pear)",
+      "move_to(pear, table)",
+      "place(pear, table)",
+      "move_to(none, first_yellow_ball)",
+      "grasp(first_yellow_ball)",
+      "pick_up(first_yellow_ball)",
+      "move_to(first_yellow_ball, table)",
+      "place(first_yellow_ball, table)",
+      "move_to(none, porous_ball)",
+      "grasp(porous_ball)",
+      "pick_up(porous_ball)",
+      "move_to(porous_ball, table)",
+      "place(porous_ball, table)",
+      "move_to(none, second_yellow_ball)",
+      "grasp(second_yellow_ball)",
+      "pick_up(second_yellow_ball)",
+      "move_to(second_yellow_ball, table)",
+      "place(second_yellow_ball, table)",
+      "move_to(none, green_ball)",
+      "grasp(green_ball)",
+      "pick_up(green_ball)",
+      "move_to(green_ball, table)",
+      "place(green_ball, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, table)"
+      ],
+      "move_to(banana, table)": [
+        "place(banana, table)"
+      ],
+      "place(banana, table)": [],
+      "move_to(none, strawberry)": [
+        "grasp(strawberry)"
+      ],
+      "grasp(strawberry)": [
+        "pick_up(strawberry)"
+      ],
+      "pick_up(strawberry)": [
+        "move_to(strawberry, table)"
+      ],
+      "move_to(strawberry, table)": [
+        "place(strawberry, table)"
+      ],
+      "place(strawberry, table)": [],
+      "move_to(none, pear)": [
+        "grasp(pear)"
+      ],
+      "grasp(pear)": [
+        "pick_up(pear)"
+      ],
+      "pick_up(pear)": [
+        "move_to(pear, table)"
+      ],
+      "move_to(pear, table)": [
+        "place(pear, table)"
+      ],
+      "place(pear, table)": [],
+      "move_to(none, first_yellow_ball)": [
+        "grasp(first_yellow_ball)"
+      ],
+      "grasp(first_yellow_ball)": [
+        "pick_up(first_yellow_ball)"
+      ],
+      "pick_up(first_yellow_ball)": [
+        "move_to(first_yellow_ball, table)"
+      ],
+      "move_to(first_yellow_ball, table)": [
+        "place(first_yellow_ball, table)"
+      ],
+      "place(first_yellow_ball, table)": [],
+      "move_to(none, porous_ball)": [
+        "grasp(porous_ball)"
+      ],
+      "grasp(porous_ball)": [
+        "pick_up(porous_ball)"
+      ],
+      "pick_up(porous_ball)": [
+        "move_to(porous_ball, table)"
+      ],
+      "move_to(porous_ball, table)": [
+        "place(porous_ball, table)"
+      ],
+      "place(porous_ball, table)": [],
+      "move_to(none, second_yellow_ball)": [
+        "grasp(second_yellow_ball)"
+      ],
+      "grasp(second_yellow_ball)": [
+        "pick_up(second_yellow_ball)"
+      ],
+      "pick_up(second_yellow_ball)": [
+        "move_to(second_yellow_ball, table)"
+      ],
+      "move_to(second_yellow_ball, table)": [
+        "place(second_yellow_ball, table)"
+      ],
+      "place(second_yellow_ball, table)": [],
+      "move_to(none, green_ball)": [
+        "grasp(green_ball)"
+      ],
+      "grasp(green_ball)": [
+        "pick_up(green_ball)"
+      ],
+      "pick_up(green_ball)": [
+        "move_to(green_ball, table)"
+      ],
+      "move_to(green_ball, table)": [
+        "place(green_ball, table)"
+      ],
+      "place(green_ball, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_39667.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_40533",
+    "actions_list": [
+      "move_to(yellow_lego_brick)",
+      "grasp(yellow_lego_brick)",
+      "pick_up(yellow_lego_brick)",
+      "move_to(yellow_lego_brick, bowl)",
+      "place(yellow_lego_brick, bowl)",
+      "move_to(none,blue_lego_brick)",
+      "grasp(blue_lego_brick)",
+      "pick_up(blue_lego_brick)",
+      "move_to(blue_lego_brick, bowl)",
+      "place(blue_lego_brick, bowl)",
+      "move_to(nonr,orange_lego_brick)",
+      "grasp(orange_lego_brick)",
+      "pick_up(orange_lego_brick)",
+      "move_to(orange_lego_brick, bowl)",
+      "place(orange_lego_brick, bowl)",
+      "move_to(none,green_lego_brick)",
+      "grasp(green_lego_brick)",
+      "pick_up(green_lego_brick)",
+      "move_to(green_lego_brick, bowl)",
+      "place(green_lego_brick, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(yellow_lego_brick)": [
+        "grasp(yellow_lego_brick)"
+      ],
+      "grasp(yellow_lego_brick)": [
+        "pick_up(yellow_lego_brick)"
+      ],
+      "pick_up(yellow_lego_brick)": [
+        "move_to(yellow_lego_brick, bowl)"
+      ],
+      "move_to(yellow_lego_brick, bowl)": [
+        "place(yellow_lego_brick, bowl)"
+      ],
+      "place(yellow_lego_brick, bowl)": [],
+      "move_to(none,blue_lego_brick)": [
+        "grasp(blue_lego_brick)"
+      ],
+      "grasp(blue_lego_brick)": [
+        "pick_up(blue_lego_brick)"
+      ],
+      "pick_up(blue_lego_brick)": [
+        "move_to(blue_lego_brick, bowl)"
+      ],
+      "move_to(blue_lego_brick, bowl)": [
+        "place(blue_lego_brick, bowl)"
+      ],
+      "place(blue_lego_brick, bowl)": [],
+      "move_to(nonr,orange_lego_brick)": [
+        "grasp(orange_lego_brick)"
+      ],
+      "grasp(orange_lego_brick)": [
+        "pick_up(orange_lego_brick)"
+      ],
+      "pick_up(orange_lego_brick)": [
+        "move_to(orange_lego_brick, bowl)"
+      ],
+      "move_to(orange_lego_brick, bowl)": [
+        "place(orange_lego_brick, bowl)"
+      ],
+      "place(orange_lego_brick, bowl)": [],
+      "move_to(none,green_lego_brick)": [
+        "grasp(green_lego_brick)"
+      ],
+      "grasp(green_lego_brick)": [
+        "pick_up(green_lego_brick)"
+      ],
+      "pick_up(green_lego_brick)": [
+        "move_to(green_lego_brick, bowl)"
+      ],
+      "move_to(green_lego_brick, bowl)": [
+        "place(green_lego_brick, bowl)"
+      ],
+      "place(green_lego_brick, bowl)": []
+    }
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_40868",
+    "actions_list": [
+      "move_to(none, green_cloth)",
+      "grasp(green_cloth)",
+      "pick_up(green_cloth)",
+      "move_to(green_cloth, table)",
+      "place(green_cloth, table)",
+      "move_to(none, white_cloth)",
+      "grasp(white_cloth)",
+      "pick_up(white_cloth)",
+      "move_to(white_cloth, table)",
+      "place(white_cloth, table)",
+      "move_to(none, yellow_cloth)",
+      "grasp(yellow_cloth)",
+      "pick_up(yellow_cloth)",
+      "move_to(yellow_cloth, table)",
+      "place(yellow_cloth, table)",
+      "move_to(none, pink_cloth)",
+      "grasp(pink_cloth)",
+      "pick_up(pink_cloth)",
+      "move_to(pink_cloth, table)",
+      "place(pink_cloth, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, green_cloth)": [
+        "grasp(green_cloth)"
+      ],
+      "grasp(green_cloth)": [
+        "pick_up(green_cloth)"
+      ],
+      "pick_up(green_cloth)": [
+        "move_to(green_cloth, table)"
+      ],
+      "move_to(green_cloth, table)": [
+        "place(green_cloth, table)"
+      ],
+      "place(green_cloth, table)": [],
+      "move_to(none, white_cloth)": [
+        "grasp(white_cloth)"
+      ],
+      "grasp(white_cloth)": [
+        "pick_up(white_cloth)"
+      ],
+      "pick_up(white_cloth)": [
+        "move_to(white_cloth, table)"
+      ],
+      "move_to(white_cloth, table)": [
+        "place(white_cloth, table)"
+      ],
+      "place(white_cloth, table)": [],
+      "move_to(none, yellow_cloth)": [
+        "grasp(yellow_cloth)"
+      ],
+      "grasp(yellow_cloth)": [
+        "pick_up(yellow_cloth)"
+      ],
+      "pick_up(yellow_cloth)": [
+        "move_to(yellow_cloth, table)"
+      ],
+      "move_to(yellow_cloth, table)": [
+        "place(yellow_cloth, table)"
+      ],
+      "place(yellow_cloth, table)": [],
+      "move_to(none, pink_cloth)": [
+        "grasp(pink_cloth)"
+      ],
+      "grasp(pink_cloth)": [
+        "pick_up(pink_cloth)"
+      ],
+      "pick_up(pink_cloth)": [
+        "move_to(pink_cloth, table)"
+      ],
+      "move_to(pink_cloth, table)": [
+        "place(pink_cloth, table)"
+      ],
+      "place(pink_cloth, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_40868.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_41342",
+    "actions_list": [
+      "move_to(none, paper_scraps_on_the_countertop)",
+      "grasp(first_paper_scrap)",
+      "pick_up(first_paper_scrap)",
+      "move_to(first_paper_scrap, bin)",
+      "place(first_paper_scrap, bin)",
+      "move_to(none, other_paper_scrap_on_the_countertop)",
+      "grasp(second_paper_scrap)",
+      "pick_up(second_paper_scrap)",
+      "move_to(second_paper_scrap, bin)",
+      "place(second_paper_scrap, bin)",
+      "move_to(none, other_paper_scrap_on_the_countertop)",
+      "grasp(third_paper_scrap)",
+      "pick_up(third_paper_scrap)",
+      "move_to(third_paper_scrap, bin)",
+      "place(third_paper_scrap, bin)",
+      "move_to(none, other_paper_scrap_on_the_countertop)",
+      "grasp(fourth_paper_scrap)",
+      "pick_up(fourth_paper_scrap)",
+      "move_to(fourth_paper_scrap, bin)",
+      "place(fourth_paper_scrap, bin)",
+      "move_to(none, other_paper_scrap_on_the_countertop)",
+      "grasp(fifth_paper_scrap)",
+      "pick_up(fifth_paper_scrap)",
+      "move_to(fifth_paper_scrap, bin)",
+      "place(fifth_paper_scrap, bin)"
+    ],
+    "gt_dag": {
+      "move_to(none, paper_scraps_on_the_countertop)": [
+        "grasp(first_paper_scrap)"
+      ],
+      "grasp(first_paper_scrap)": [
+        "pick_up(first_paper_scrap)"
+      ],
+      "pick_up(first_paper_scrap)": [
+        "move_to(first_paper_scrap, bin)"
+      ],
+      "move_to(first_paper_scrap, bin)": [
+        "place(first_paper_scrap, bin)"
+      ],
+      "place(first_paper_scrap, bin)": [],
+      "grasp(second_paper_scrap)": [
+        "pick_up(second_paper_scrap)"
+      ],
+      "pick_up(second_paper_scrap)": [
+        "move_to(second_paper_scrap, bin)"
+      ],
+      "move_to(second_paper_scrap, bin)": [
+        "place(second_paper_scrap, bin)"
+      ],
+      "place(second_paper_scrap, bin)": [],
+      "grasp(third_paper_scrap)": [
+        "pick_up(third_paper_scrap)"
+      ],
+      "pick_up(third_paper_scrap)": [
+        "move_to(third_paper_scrap, bin)"
+      ],
+      "move_to(third_paper_scrap, bin)": [
+        "place(third_paper_scrap, bin)"
+      ],
+      "place(third_paper_scrap, bin)": [],
+      "grasp(fourth_paper_scrap)": [
+        "pick_up(fourth_paper_scrap)"
+      ],
+      "pick_up(fourth_paper_scrap)": [
+        "move_to(fourth_paper_scrap, bin)"
+      ],
+      "move_to(fourth_paper_scrap, bin)": [
+        "place(fourth_paper_scrap, bin)"
+      ],
+      "place(fourth_paper_scrap, bin)": [],
+      "move_to(none, other_paper_scrap_on_the_countertop)": [
+        "grasp(second_paper_scrap)"
+      ],
+      "grasp(fifth_paper_scrap)": [
+        "pick_up(fifth_paper_scrap)"
+      ],
+      "pick_up(fifth_paper_scrap)": [
+        "move_to(fifth_paper_scrap, bin)"
+      ],
+      "move_to(fifth_paper_scrap, bin)": [
+        "place(fifth_paper_scrap, bin)"
+      ],
+      "place(fifth_paper_scrap, bin)": [],
+      "move_to(none, other_paper_scrap_on_the_countertop)<1>": [
+        "grasp(third_paper_scrap)"
+      ],
+      "move_to(none, other_paper_scrap_on_the_countertop)<2>": [
+        "grasp(fourth_paper_scrap)"
+      ],
+      "move_to(none, other_paper_scrap_on_the_countertop)<3>": [
+        "grasp(fifth_paper_scrap)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_41342.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_41625",
+    "actions_list": [
+      "move_to(none,yellow_cloth)",
+      "grasp(yellow_cloth)",
+      "pick_up(yellow_cloth)",
+      "move_to(yellow_cloth, center)",
+      "place(yellow_cloth, center)",
+      "move_to(none,white_rope)",
+      "grasp(white_rope)",
+      "pick_up(white_rope)",
+      "move_to(white_rope, center)",
+      "place(white_rope, center)",
+      "move_to(none,toy_apple)",
+      "grasp(toy_apple)",
+      "pick_up(toy_apple)",
+      "move_to(toy_apple, center)",
+      "place(toy_apple, center)",
+      "move_to(none,white_cloth)",
+      "grasp(white_cloth)",
+      "pick_up(white_cloth)",
+      "move_to(white_cloth, center)",
+      "place(white_cloth, center)",
+      "move_to(none,pink_cloth)",
+      "grasp(pink_cloth)",
+      "pick_up(pink_cloth)",
+      "move_to(pink_cloth, center)",
+      "place(pink_cloth, center)"
+    ],
+    "gt_dag": {
+      "move_to(none,yellow_cloth)": [
+        "grasp(yellow_cloth)"
+      ],
+      "grasp(yellow_cloth)": [
+        "pick_up(yellow_cloth)"
+      ],
+      "pick_up(yellow_cloth)": [
+        "move_to(yellow_cloth, center)"
+      ],
+      "move_to(yellow_cloth, center)": [
+        "place(yellow_cloth, center)"
+      ],
+      "place(yellow_cloth, center)": [],
+      "move_to(none,white_rope)": [
+        "grasp(white_rope)"
+      ],
+      "grasp(white_rope)": [
+        "pick_up(white_rope)"
+      ],
+      "pick_up(white_rope)": [
+        "move_to(white_rope, center)"
+      ],
+      "move_to(white_rope, center)": [
+        "place(white_rope, center)"
+      ],
+      "place(white_rope, center)": [],
+      "move_to(none,toy_apple)": [
+        "grasp(toy_apple)"
+      ],
+      "grasp(toy_apple)": [
+        "pick_up(toy_apple)"
+      ],
+      "pick_up(toy_apple)": [
+        "move_to(toy_apple, center)"
+      ],
+      "move_to(toy_apple, center)": [
+        "place(toy_apple, center)"
+      ],
+      "place(toy_apple, center)": [],
+      "move_to(none,white_cloth)": [
+        "grasp(white_cloth)"
+      ],
+      "grasp(white_cloth)": [
+        "pick_up(white_cloth)"
+      ],
+      "pick_up(white_cloth)": [
+        "move_to(white_cloth, center)"
+      ],
+      "move_to(white_cloth, center)": [
+        "place(white_cloth, center)"
+      ],
+      "place(white_cloth, center)": [],
+      "move_to(none,pink_cloth)": [
+        "grasp(pink_cloth)"
+      ],
+      "grasp(pink_cloth)": [
+        "pick_up(pink_cloth)"
+      ],
+      "pick_up(pink_cloth)": [
+        "move_to(pink_cloth, center)"
+      ],
+      "move_to(pink_cloth, center)": [
+        "place(pink_cloth, center)"
+      ],
+      "place(pink_cloth, center)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_41625.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_42787",
+    "actions_list": [
+      "move_to(left_cup)",
+      "grasp(left_cup)",
+      "pick_up(left_cup)",
+      "move_to(left_cup,right_cup)",
+      "place(left_cup,right_cup)",
+      "move_to(none,bottle_of_sauce)",
+      "grasp(bottle_of_sauce)",
+      "pick_up(bottle_of_sauce)",
+      "move_to(bottle_of_sauce,plate)",
+      "place(sauce_bottle, plate)",
+      "move_to(none,white_bottle)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "move_to(white_bottle,plate)",
+      "place(white_bottle, plate)",
+      "move_to(none,second_white_bottle)",
+      "grasp(second_white_bottle)",
+      "pick_up(second_white_bottle)",
+      "move_to(second_white_bottle,plate)",
+      "place(second_white_bottle, plate)",
+      "move_to(none,green_toy)",
+      "grasp(green_toy)",
+      "pick_up(green_toy)",
+      "move_to(green_toy,plate)",
+      "place(green_toy, plate)",
+      "move_to(none,orange_toy)",
+      "grasp(orange_toy)",
+      "pick_up(orange_toy)",
+      "move_to(orange_toy,plate)",
+      "place(orange_toy, plate)",
+      "move_to(none,red_toy)",
+      "grasp(red_toy)",
+      "pick_up(red_toy)",
+      "move_to(red_toy,plate)",
+      "place(red_toy, plate)"
+    ],
+    "gt_dag": {
+      "move_to(left_cup)": [
+        "grasp(left_cup)"
+      ],
+      "grasp(left_cup)": [
+        "pick_up(left_cup)"
+      ],
+      "pick_up(left_cup)": [
+        "move_to(left_cup,right_cup)"
+      ],
+      "move_to(left_cup,right_cup)": [
+        "place(left_cup,right_cup)"
+      ],
+      "place(left_cup,right_cup)": [],
+      "move_to(none,bottle_of_sauce)": [
+        "grasp(bottle_of_sauce)"
+      ],
+      "grasp(bottle_of_sauce)": [
+        "pick_up(bottle_of_sauce)"
+      ],
+      "pick_up(bottle_of_sauce)": [
+        "move_to(bottle_of_sauce,plate)"
+      ],
+      "move_to(bottle_of_sauce,plate)": [
+        "place(sauce_bottle, plate)"
+      ],
+      "place(sauce_bottle, plate)": [],
+      "move_to(none,white_bottle)": [
+        "grasp(white_bottle)"
+      ],
+      "grasp(white_bottle)": [
+        "pick_up(white_bottle)"
+      ],
+      "pick_up(white_bottle)": [
+        "move_to(white_bottle,plate)"
+      ],
+      "move_to(white_bottle,plate)": [
+        "place(white_bottle, plate)"
+      ],
+      "place(white_bottle, plate)": [],
+      "move_to(none,second_white_bottle)": [
+        "grasp(second_white_bottle)"
+      ],
+      "grasp(second_white_bottle)": [
+        "pick_up(second_white_bottle)"
+      ],
+      "pick_up(second_white_bottle)": [
+        "move_to(second_white_bottle,plate)"
+      ],
+      "move_to(second_white_bottle,plate)": [
+        "place(second_white_bottle, plate)"
+      ],
+      "place(second_white_bottle, plate)": [],
+      "move_to(none,green_toy)": [
+        "grasp(green_toy)"
+      ],
+      "grasp(green_toy)": [
+        "pick_up(green_toy)"
+      ],
+      "pick_up(green_toy)": [
+        "move_to(green_toy,plate)"
+      ],
+      "move_to(green_toy,plate)": [
+        "place(green_toy, plate)"
+      ],
+      "place(green_toy, plate)": [],
+      "move_to(none,orange_toy)": [
+        "grasp(orange_toy)"
+      ],
+      "grasp(orange_toy)": [
+        "pick_up(orange_toy)"
+      ],
+      "pick_up(orange_toy)": [
+        "move_to(orange_toy,plate)"
+      ],
+      "move_to(orange_toy,plate)": [
+        "place(orange_toy, plate)"
+      ],
+      "place(orange_toy, plate)": [],
+      "move_to(none,red_toy)": [
+        "grasp(red_toy)"
+      ],
+      "grasp(red_toy)": [
+        "pick_up(red_toy)"
+      ],
+      "pick_up(red_toy)": [
+        "move_to(red_toy,plate)"
+      ],
+      "move_to(red_toy,plate)": [
+        "place(red_toy, plate)"
+      ],
+      "place(red_toy, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_42787.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_43452",
+    "actions_list": [
+      "move_to(none,blue_plush_toy)",
+      "grasp(blue_plush_toy)",
+      "pick_up(blue_plush_toy)",
+      "move_to(blue_plush_toy, drawers)",
+      "place(blue_plush_toy, drawers)",
+      "move_to(none,green_plush_toy)",
+      "grasp(green_plush_toy)",
+      "pick_up(green_plush_toy)",
+      "move_to(green_plush_toy, drawers)",
+      "place(green_plush_toy, drawers)",
+      "move_to(none,yellow_plush_toy)",
+      "grasp(yellow_plush_toy)",
+      "pick_up(yellow_plush_toy)",
+      "move_to(yellow_plush_toy, drawers)",
+      "place(yellow_plush_toy, drawers)",
+      "move_to(none,towel)",
+      "grasp(towel)",
+      "wipe(towel, stains, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none,blue_plush_toy)": [
+        "grasp(blue_plush_toy)"
+      ],
+      "grasp(blue_plush_toy)": [
+        "pick_up(blue_plush_toy)"
+      ],
+      "pick_up(blue_plush_toy)": [
+        "move_to(blue_plush_toy, drawers)"
+      ],
+      "move_to(blue_plush_toy, drawers)": [
+        "place(blue_plush_toy, drawers)"
+      ],
+      "place(blue_plush_toy, drawers)": [],
+      "move_to(none,green_plush_toy)": [
+        "grasp(green_plush_toy)"
+      ],
+      "grasp(green_plush_toy)": [
+        "pick_up(green_plush_toy)"
+      ],
+      "pick_up(green_plush_toy)": [
+        "move_to(green_plush_toy, drawers)"
+      ],
+      "move_to(green_plush_toy, drawers)": [
+        "place(green_plush_toy, drawers)"
+      ],
+      "place(green_plush_toy, drawers)": [],
+      "move_to(none,yellow_plush_toy)": [
+        "grasp(yellow_plush_toy)"
+      ],
+      "grasp(yellow_plush_toy)": [
+        "pick_up(yellow_plush_toy)"
+      ],
+      "pick_up(yellow_plush_toy)": [
+        "move_to(yellow_plush_toy, drawers)"
+      ],
+      "move_to(yellow_plush_toy, drawers)": [
+        "place(yellow_plush_toy, drawers)"
+      ],
+      "place(yellow_plush_toy, drawers)": [],
+      "move_to(none,towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "wipe(towel, stains, counter)"
+      ],
+      "wipe(towel, stains, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_43452.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_44217",
+    "actions_list": [
+      "move_to(none, first_cup)",
+      "grasp(first_cup)",
+      "pick_up(first_cup)",
+      "place(first_cup, second_cup)",
+      "move_to(none,stacked_cups)",
+      "grasp(stacked_cups)",
+      "pick_up(stacked_cups)",
+      "move_to(stacked_cups, third_cup)",
+      "place(stacked_cups, third_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_cup)": [
+        "grasp(first_cup)"
+      ],
+      "grasp(first_cup)": [
+        "pick_up(first_cup)"
+      ],
+      "pick_up(first_cup)": [
+        "place(first_cup, second_cup)"
+      ],
+      "place(first_cup, second_cup)": [],
+      "move_to(none,stacked_cups)": [
+        "grasp(stacked_cups)"
+      ],
+      "grasp(stacked_cups)": [
+        "pick_up(stacked_cups)"
+      ],
+      "pick_up(stacked_cups)": [
+        "move_to(stacked_cups, third_cup)"
+      ],
+      "move_to(stacked_cups, third_cup)": [
+        "place(stacked_cups, third_cup)"
+      ],
+      "place(stacked_cups, third_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_44217.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_44282",
+    "actions_list": [
+      "move_to(white_ring)",
+      "grasp(white_ring)",
+      "pick_up(white_ring)",
+      "move_to(white_ring,bottom_right_table)",
+      "place(ring, bottom_right_table)",
+      "move_to(none,red_toy)",
+      "grasp(red_toy)",
+      "pick_up(red_toy)",
+      "move_to(red_toy, bottom_right_table)",
+      "place(red_toy, bottom_right_table)",
+      "move_to(none,pink_cloth)",
+      "grasp(pink_cloth)",
+      "pick_up(pink_cloth)",
+      "move_to(pink_cloth, bottom_right_table)",
+      "place(pink_cloth, bottom_right_table)",
+      "move_to(none,white_cloth)",
+      "grasp(white_cloth)",
+      "pick_up(white_cloth)",
+      "move_to(white_cloth, bottom_right_table)",
+      "place(white_cloth, bottom_right_table)",
+      "move_to(none,green_cloth)",
+      "grasp(green_cloth)",
+      "pick_up(green_cloth)",
+      "move_to(green_cloth, bottom_right_table)",
+      "place(green_cloth, bottom_right_table)"
+    ],
+    "gt_dag": {
+      "move_to(white_ring)": [
+        "grasp(white_ring)"
+      ],
+      "grasp(white_ring)": [
+        "pick_up(white_ring)"
+      ],
+      "pick_up(white_ring)": [
+        "move_to(white_ring,bottom_right_table)"
+      ],
+      "move_to(white_ring,bottom_right_table)": [
+        "place(ring, bottom_right_table)"
+      ],
+      "place(ring, bottom_right_table)": [],
+      "move_to(none,red_toy)": [
+        "grasp(red_toy)"
+      ],
+      "grasp(red_toy)": [
+        "pick_up(red_toy)"
+      ],
+      "pick_up(red_toy)": [
+        "move_to(red_toy, bottom_right_table)"
+      ],
+      "move_to(red_toy, bottom_right_table)": [
+        "place(red_toy, bottom_right_table)"
+      ],
+      "place(red_toy, bottom_right_table)": [],
+      "move_to(none,pink_cloth)": [
+        "grasp(pink_cloth)"
+      ],
+      "grasp(pink_cloth)": [
+        "pick_up(pink_cloth)"
+      ],
+      "pick_up(pink_cloth)": [
+        "move_to(pink_cloth, bottom_right_table)"
+      ],
+      "move_to(pink_cloth, bottom_right_table)": [
+        "place(pink_cloth, bottom_right_table)"
+      ],
+      "place(pink_cloth, bottom_right_table)": [],
+      "move_to(none,white_cloth)": [
+        "grasp(white_cloth)"
+      ],
+      "grasp(white_cloth)": [
+        "pick_up(white_cloth)"
+      ],
+      "pick_up(white_cloth)": [
+        "move_to(white_cloth, bottom_right_table)"
+      ],
+      "move_to(white_cloth, bottom_right_table)": [
+        "place(white_cloth, bottom_right_table)"
+      ],
+      "place(white_cloth, bottom_right_table)": [],
+      "move_to(none,green_cloth)": [
+        "grasp(green_cloth)"
+      ],
+      "grasp(green_cloth)": [
+        "pick_up(green_cloth)"
+      ],
+      "pick_up(green_cloth)": [
+        "move_to(green_cloth, bottom_right_table)"
+      ],
+      "move_to(green_cloth, bottom_right_table)": [
+        "place(green_cloth, bottom_right_table)"
+      ],
+      "place(green_cloth, bottom_right_table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_44282.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_46733",
+    "actions_list": [
+      "move_to(none, first_lego_block)",
+      "grasp(first_lego_block)",
+      "pick_up(first_lego_block)",
+      "move_to(grasped_lego_block, bowl)",
+      "place(lego_block, bowl)",
+      "move_to(none, second_lego_block)",
+      "grasp(second_lego_block)",
+      "pick_up(second_lego_block)",
+      "move_to(grasped_lego_block, bowl)",
+      "place(second_lego_block, bowl)",
+      "move_to(none, third_lego_block)",
+      "grasp(third_lego_block)",
+      "pick_up(third_lego_block)",
+      "move_to(grasped_lego_block, bowl)",
+      "place(lego_block, bowl)",
+      "move_to(none, fourth_lego_block)",
+      "grasp(fourth_lego_block)",
+      "pick_up(fourth_lego_block)",
+      "move_to(grasped_lego_block, bowl)",
+      "place(lego_block, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_lego_block)": [
+        "grasp(first_lego_block)"
+      ],
+      "grasp(first_lego_block)": [
+        "pick_up(first_lego_block)"
+      ],
+      "pick_up(first_lego_block)": [
+        "move_to(grasped_lego_block, bowl)"
+      ],
+      "move_to(none, second_lego_block)": [
+        "grasp(second_lego_block)"
+      ],
+      "grasp(second_lego_block)": [
+        "pick_up(second_lego_block)"
+      ],
+      "pick_up(second_lego_block)": [
+        "move_to(grasped_lego_block, bowl)<1>"
+      ],
+      "place(second_lego_block, bowl)": [],
+      "move_to(none, third_lego_block)": [
+        "grasp(third_lego_block)"
+      ],
+      "grasp(third_lego_block)": [
+        "pick_up(third_lego_block)"
+      ],
+      "pick_up(third_lego_block)": [
+        "move_to(grasped_lego_block, bowl)<2>"
+      ],
+      "move_to(none, fourth_lego_block)": [
+        "grasp(fourth_lego_block)"
+      ],
+      "grasp(fourth_lego_block)": [
+        "pick_up(fourth_lego_block)"
+      ],
+      "pick_up(fourth_lego_block)": [
+        "move_to(grasped_lego_block, bowl)<3>"
+      ],
+      "move_to(grasped_lego_block, bowl)": [
+        "place(lego_block, bowl)"
+      ],
+      "place(lego_block, bowl)": [],
+      "move_to(grasped_lego_block, bowl)<1>": [
+        "place(second_lego_block, bowl)"
+      ],
+      "move_to(grasped_lego_block, bowl)<2>": [
+        "place(lego_block, bowl)<1>"
+      ],
+      "place(lego_block, bowl)<1>": [],
+      "move_to(grasped_lego_block, bowl)<3>": [
+        "place(lego_block, bowl)<2>"
+      ],
+      "place(lego_block, bowl)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_46733.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_50228",
+    "actions_list": [
+      "move_to(none,pink_clothes)",
+      "grasp(pink_clothes)",
+      "pick_up(pink_clothes)",
+      "move_to(pink_clothes, table)",
+      "place(pink_clothes, table)",
+      "move_to(mome,peach_clothes)",
+      "grasp(peach_clothes)",
+      "pick_up(peach_clothes)",
+      "move_to(peach_clothes, table)",
+      "place(peach_clothes, table)",
+      "move_to(none,green_clothes)",
+      "grasp(green_clothes)",
+      "pick_up(green_clothes)",
+      "move_to(green_clothes, table)",
+      "place(green_clothes, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,pink_clothes)": [
+        "grasp(pink_clothes)"
+      ],
+      "grasp(pink_clothes)": [
+        "pick_up(pink_clothes)"
+      ],
+      "pick_up(pink_clothes)": [
+        "move_to(pink_clothes, table)"
+      ],
+      "move_to(pink_clothes, table)": [
+        "place(pink_clothes, table)"
+      ],
+      "place(pink_clothes, table)": [],
+      "move_to(mome,peach_clothes)": [
+        "grasp(peach_clothes)"
+      ],
+      "grasp(peach_clothes)": [
+        "pick_up(peach_clothes)"
+      ],
+      "pick_up(peach_clothes)": [
+        "move_to(peach_clothes, table)"
+      ],
+      "move_to(peach_clothes, table)": [
+        "place(peach_clothes, table)"
+      ],
+      "place(peach_clothes, table)": [],
+      "move_to(none,green_clothes)": [
+        "grasp(green_clothes)"
+      ],
+      "grasp(green_clothes)": [
+        "pick_up(green_clothes)"
+      ],
+      "pick_up(green_clothes)": [
+        "move_to(green_clothes, table)"
+      ],
+      "move_to(green_clothes, table)": [
+        "place(green_clothes, table)"
+      ],
+      "place(green_clothes, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_50228.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_56407",
+    "actions_list": [
+      "move_to(none,orange_colored_towel)",
+      "grasp(orange_colored_towel)",
+      "pick_up(orange_colored_towel)",
+      "move_to(orange_colored_towel, box)",
+      "place(orange_colored_towel, box)",
+      "move_to(none, yellow_colored_towel)",
+      "grasp(yellow_colored_towel)",
+      "pick_up(yellow_colored_towel)",
+      "move_to(yellow_colored_towel, box)",
+      "place(yellow_colored_towel, box)",
+      "move_to(none, pink_colored_towel)",
+      "grasp(pink_colored_towel)",
+      "pick_up(pink_colored_towel)",
+      "move_to(pink_colored_towel, box)",
+      "place(pink_colored_towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none,orange_colored_towel)": [
+        "grasp(orange_colored_towel)"
+      ],
+      "grasp(orange_colored_towel)": [
+        "pick_up(orange_colored_towel)"
+      ],
+      "pick_up(orange_colored_towel)": [
+        "move_to(orange_colored_towel, box)"
+      ],
+      "move_to(orange_colored_towel, box)": [
+        "place(orange_colored_towel, box)"
+      ],
+      "place(orange_colored_towel, box)": [],
+      "move_to(none, yellow_colored_towel)": [
+        "grasp(yellow_colored_towel)"
+      ],
+      "grasp(yellow_colored_towel)": [
+        "pick_up(yellow_colored_towel)"
+      ],
+      "pick_up(yellow_colored_towel)": [
+        "move_to(yellow_colored_towel, box)"
+      ],
+      "move_to(yellow_colored_towel, box)": [
+        "place(yellow_colored_towel, box)"
+      ],
+      "place(yellow_colored_towel, box)": [],
+      "move_to(none, pink_colored_towel)": [
+        "grasp(pink_colored_towel)"
+      ],
+      "grasp(pink_colored_towel)": [
+        "pick_up(pink_colored_towel)"
+      ],
+      "pick_up(pink_colored_towel)": [
+        "move_to(pink_colored_towel, box)"
+      ],
+      "move_to(pink_colored_towel, box)": [
+        "place(pink_colored_towel, box)"
+      ],
+      "place(pink_colored_towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_56407.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_56694",
+    "actions_list": [
+      "move_to(none,first_bottle)",
+      "grasp(first_bottle)",
+      "pick_up(first_bottle)",
+      "move_to(first_bottle, bag)",
+      "place(first_bottle, bag)",
+      "move_to(second_bottle)",
+      "grasp(second_bottle)",
+      "pick_up(second_bottle)",
+      "move_to(second_bottle, bag)",
+      "place(second_bottle, bag)",
+      "move_to(none,third_bottle)",
+      "grasp(third_bottle)",
+      "pick_up(third_bottle)",
+      "move_to(third_bottle, bag)",
+      "place(third_bottle, bag)",
+      "move_to(none,fourth_bottle)",
+      "grasp(fourth_bottle)",
+      "pick_up(fourth_bottle)",
+      "move_to(fourth_bottle, bag)",
+      "place(fourth_bottle, bag)",
+      "move_to(none,fifth_bottle)",
+      "grasp(fifth_bottle)",
+      "pick_up(fifth_bottle)",
+      "move_to(fifth_bottle, bag)",
+      "place(fifth_bottle, bag)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_bottle)": [
+        "grasp(first_bottle)"
+      ],
+      "grasp(first_bottle)": [
+        "pick_up(first_bottle)"
+      ],
+      "pick_up(first_bottle)": [
+        "move_to(first_bottle, bag)"
+      ],
+      "move_to(first_bottle, bag)": [
+        "place(first_bottle, bag)"
+      ],
+      "place(first_bottle, bag)": [],
+      "move_to(second_bottle)": [
+        "grasp(second_bottle)"
+      ],
+      "grasp(second_bottle)": [
+        "pick_up(second_bottle)"
+      ],
+      "pick_up(second_bottle)": [
+        "move_to(second_bottle, bag)"
+      ],
+      "move_to(second_bottle, bag)": [
+        "place(second_bottle, bag)"
+      ],
+      "place(second_bottle, bag)": [],
+      "move_to(none,third_bottle)": [
+        "grasp(third_bottle)"
+      ],
+      "grasp(third_bottle)": [
+        "pick_up(third_bottle)"
+      ],
+      "pick_up(third_bottle)": [
+        "move_to(third_bottle, bag)"
+      ],
+      "move_to(third_bottle, bag)": [
+        "place(third_bottle, bag)"
+      ],
+      "place(third_bottle, bag)": [],
+      "move_to(none,fourth_bottle)": [
+        "grasp(fourth_bottle)"
+      ],
+      "grasp(fourth_bottle)": [
+        "pick_up(fourth_bottle)"
+      ],
+      "pick_up(fourth_bottle)": [
+        "move_to(fourth_bottle, bag)"
+      ],
+      "move_to(fourth_bottle, bag)": [
+        "place(fourth_bottle, bag)"
+      ],
+      "place(fourth_bottle, bag)": [],
+      "move_to(none,fifth_bottle)": [
+        "grasp(fifth_bottle)"
+      ],
+      "grasp(fifth_bottle)": [
+        "pick_up(fifth_bottle)"
+      ],
+      "pick_up(fifth_bottle)": [
+        "move_to(fifth_bottle, bag)"
+      ],
+      "move_to(fifth_bottle, bag)": [
+        "place(fifth_bottle, bag)"
+      ],
+      "place(fifth_bottle, bag)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_56694.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_56917",
+    "actions_list": [
+      "move_to(none,white_cloth)",
+      "grasp(white_cloth)",
+      "pick_up(white_cloth)",
+      "move_to(cloth, left_side_of_the_table)",
+      "place(cloth, left_side_of_the_table)",
+      "move_to(none,pink_cloth)",
+      "grasp(pink_cloth)",
+      "pick_up(pink_cloth)",
+      "move_to(cloth, left_side_of_the_table)",
+      "place(cloth, left_side_of_the_table)",
+      "move_to(green_cloth)",
+      "grasp(green_cloth)",
+      "pick_up(green_cloth)",
+      "move_to(cloth, right_side_of_the_table)",
+      "place(cloth, right_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none,white_cloth)": [
+        "grasp(white_cloth)"
+      ],
+      "grasp(white_cloth)": [
+        "pick_up(white_cloth)"
+      ],
+      "pick_up(white_cloth)": [
+        "move_to(cloth, left_side_of_the_table)"
+      ],
+      "move_to(none,pink_cloth)": [
+        "grasp(pink_cloth)"
+      ],
+      "grasp(pink_cloth)": [
+        "pick_up(pink_cloth)"
+      ],
+      "pick_up(pink_cloth)": [
+        "move_to(cloth, left_side_of_the_table)<1>"
+      ],
+      "move_to(cloth, left_side_of_the_table)": [
+        "place(cloth, left_side_of_the_table)"
+      ],
+      "place(cloth, left_side_of_the_table)": [],
+      "move_to(green_cloth)": [
+        "grasp(green_cloth)"
+      ],
+      "grasp(green_cloth)": [
+        "pick_up(green_cloth)"
+      ],
+      "pick_up(green_cloth)": [
+        "move_to(cloth, right_side_of_the_table)"
+      ],
+      "move_to(cloth, right_side_of_the_table)": [
+        "place(cloth, right_side_of_the_table)"
+      ],
+      "place(cloth, right_side_of_the_table)": [],
+      "move_to(cloth, left_side_of_the_table)<1>": [
+        "place(cloth, left_side_of_the_table)<1>"
+      ],
+      "place(cloth, left_side_of_the_table)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_56917.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_57907",
+    "actions_list": [
+      "move_to(none, first_orange_food)",
+      "grasp(first_orange_food)",
+      "pick_up(first_orange_food)",
+      "move_to(first_orange_food, bowl)",
+      "place(first_orange_food, bowl)",
+      "move_to(none, second_orange_food)",
+      "grasp(second_orange_food)",
+      "pick_up(second_orange_food)",
+      "move_to(second_orange_food, bowl)",
+      "place(second_orange_food, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_orange_food)": [
+        "grasp(first_orange_food)"
+      ],
+      "grasp(first_orange_food)": [
+        "pick_up(first_orange_food)"
+      ],
+      "pick_up(first_orange_food)": [
+        "move_to(first_orange_food, bowl)"
+      ],
+      "move_to(first_orange_food, bowl)": [
+        "place(first_orange_food, bowl)"
+      ],
+      "place(first_orange_food, bowl)": [],
+      "move_to(none, second_orange_food)": [
+        "grasp(second_orange_food)"
+      ],
+      "grasp(second_orange_food)": [
+        "pick_up(second_orange_food)"
+      ],
+      "pick_up(second_orange_food)": [
+        "move_to(second_orange_food, bowl)"
+      ],
+      "move_to(second_orange_food, bowl)": [
+        "place(second_orange_food, bowl)"
+      ],
+      "place(second_orange_food, bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_57907.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_58165",
+    "actions_list": [
+      "move_to(none, white_rope)",
+      "grasp(white_rope)",
+      "pick_up(white_rope)",
+      "move_to(white_rope, white_cloth)",
+      "place(white_rope, white_cloth)",
+      "move_to(none,peach_cloth)",
+      "grasp(peach_cloth)",
+      "pick_up(peach_cloth)",
+      "place(peach_cloth, white_cloth)",
+      "move_to(none,yellow_cloth)",
+      "grasp(yellow_cloth)",
+      "pick_up(yellow_cloth)",
+      "place(yellow_cloth, peach_cloth)",
+      "move_to(pink_cloth)",
+      "grasp(pink_cloth)",
+      "pick_up(pink_cloth)",
+      "place(pink_cloth, yellow_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_rope)": [
+        "grasp(white_rope)"
+      ],
+      "grasp(white_rope)": [
+        "pick_up(white_rope)"
+      ],
+      "pick_up(white_rope)": [
+        "move_to(white_rope, white_cloth)"
+      ],
+      "move_to(white_rope, white_cloth)": [
+        "place(white_rope, white_cloth)"
+      ],
+      "place(white_rope, white_cloth)": [],
+      "move_to(none,peach_cloth)": [
+        "grasp(peach_cloth)"
+      ],
+      "grasp(peach_cloth)": [
+        "pick_up(peach_cloth)"
+      ],
+      "pick_up(peach_cloth)": [
+        "place(peach_cloth, white_cloth)"
+      ],
+      "place(peach_cloth, white_cloth)": [],
+      "move_to(none,yellow_cloth)": [
+        "grasp(yellow_cloth)"
+      ],
+      "grasp(yellow_cloth)": [
+        "pick_up(yellow_cloth)"
+      ],
+      "pick_up(yellow_cloth)": [
+        "place(yellow_cloth, peach_cloth)"
+      ],
+      "place(yellow_cloth, peach_cloth)": [],
+      "move_to(pink_cloth)": [
+        "grasp(pink_cloth)"
+      ],
+      "grasp(pink_cloth)": [
+        "pick_up(pink_cloth)"
+      ],
+      "pick_up(pink_cloth)": [
+        "place(pink_cloth, yellow_cloth)"
+      ],
+      "place(pink_cloth, yellow_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_58165.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_61744",
+    "actions_list": [
+      "move_to(orange_block)",
+      "grasp(orange_block)",
+      "pick_up(orange_block)",
+      "place(orange_block, table)",
+      "move_to(green_block)",
+      "grasp(green_block)",
+      "pick_up(green_block)",
+      "place(green_block, table)",
+      "move_to(yellow_block)",
+      "grasp(yellow_block)",
+      "pick_up(yellow_block)",
+      "place(yellow_block, table)",
+      "move_to(orange_block)",
+      "grasp(orange_block)",
+      "pick_up(orange_block)",
+      "place(orange_block, table)"
+    ],
+    "gt_dag": {
+      "move_to(green_block)": [
+        "grasp(green_block)"
+      ],
+      "grasp(green_block)": [
+        "pick_up(green_block)"
+      ],
+      "pick_up(green_block)": [
+        "place(green_block, table)"
+      ],
+      "place(green_block, table)": [],
+      "move_to(yellow_block)": [
+        "grasp(yellow_block)"
+      ],
+      "grasp(yellow_block)": [
+        "pick_up(yellow_block)"
+      ],
+      "pick_up(yellow_block)": [
+        "place(yellow_block, table)"
+      ],
+      "place(yellow_block, table)": [],
+      "move_to(orange_block)": [
+        "grasp(orange_block)"
+      ],
+      "grasp(orange_block)": [
+        "pick_up(orange_block)"
+      ],
+      "pick_up(orange_block)": [
+        "place(orange_block, table)"
+      ],
+      "place(orange_block, table)": [],
+      "move_to(orange_block)<1>": [
+        "grasp(orange_block)<1>"
+      ],
+      "grasp(orange_block)<1>": [
+        "pick_up(orange_block)<1>"
+      ],
+      "pick_up(orange_block)<1>": [
+        "place(orange_block, table)<1>"
+      ],
+      "place(orange_block, table)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_61744.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_62778",
+    "actions_list": [
+      "move_to(none, first_waste_bin)",
+      "grasp(first_waste_bin)",
+      "pick_up(grasped_waste_bin)",
+      "move_to(grasped_waste_bin, second_bin)",
+      "place(first_bin, second_bin)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_waste_bin)": [
+        "grasp(first_waste_bin)"
+      ],
+      "grasp(first_waste_bin)": [
+        "pick_up(grasped_waste_bin)"
+      ],
+      "pick_up(grasped_waste_bin)": [
+        "move_to(grasped_waste_bin, second_bin)"
+      ],
+      "move_to(grasped_waste_bin, second_bin)": [
+        "place(first_bin, second_bin)"
+      ],
+      "place(first_bin, second_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_62778.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_64654",
+    "actions_list": [
+      "move_to(none,purple_bottle)",
+      "grasp(purple_bottle)",
+      "pick_up(purple_bottle)",
+      "place(purple_bottle,plastic_bag)",
+      "move_to(none,yellow_bottle)",
+      "grasp(yellow_bottle)",
+      "pick_up(yellow_bottle)",
+      "place(yellow_bottle,plastic_bag)",
+      "move_to(none,orange_bottle)",
+      "grasp(orange_bottle)",
+      "pick_up(orange_bottle)",
+      "place(orange_bottle, plastic_bag)",
+      "move_to(none,brown_doll)",
+      "grasp(brown_doll)",
+      "pick_up(brown_doll)",
+      "place(brown_doll, plastic_bag)"
+    ],
+    "gt_dag": {
+      "move_to(none,purple_bottle)": [
+        "grasp(purple_bottle)"
+      ],
+      "grasp(purple_bottle)": [
+        "pick_up(purple_bottle)"
+      ],
+      "pick_up(purple_bottle)": [
+        "place(purple_bottle,plastic_bag)"
+      ],
+      "place(purple_bottle,plastic_bag)": [],
+      "move_to(none,yellow_bottle)": [
+        "grasp(yellow_bottle)"
+      ],
+      "grasp(yellow_bottle)": [
+        "pick_up(yellow_bottle)"
+      ],
+      "pick_up(yellow_bottle)": [
+        "place(yellow_bottle,plastic_bag)"
+      ],
+      "place(yellow_bottle,plastic_bag)": [],
+      "move_to(none,orange_bottle)": [
+        "grasp(orange_bottle)"
+      ],
+      "grasp(orange_bottle)": [
+        "pick_up(orange_bottle)"
+      ],
+      "pick_up(orange_bottle)": [
+        "place(orange_bottle, plastic_bag)"
+      ],
+      "place(orange_bottle, plastic_bag)": [],
+      "move_to(none,brown_doll)": [
+        "grasp(brown_doll)"
+      ],
+      "grasp(brown_doll)": [
+        "pick_up(brown_doll)"
+      ],
+      "pick_up(brown_doll)": [
+        "place(brown_doll, plastic_bag)"
+      ],
+      "place(brown_doll, plastic_bag)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_64654.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_65036",
+    "actions_list": [
+      "move_to(none,first_bottle)",
+      "grasp(first_bottle)",
+      "pick_up(first_bottle)",
+      "move_to(first_bottle, bin)",
+      "place(first_bottle, bin)",
+      "move_to(none,second_bottle)",
+      "grasp(second_bottle)",
+      "pick_up(second_bottle)",
+      "move_to(second_bottle, bin)",
+      "place(second_bottle, bin)",
+      "grasp(bin_lid)",
+      "push(bin_lid, bin)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_bottle)": [
+        "grasp(first_bottle)"
+      ],
+      "grasp(first_bottle)": [
+        "pick_up(first_bottle)"
+      ],
+      "pick_up(first_bottle)": [
+        "move_to(first_bottle, bin)"
+      ],
+      "move_to(first_bottle, bin)": [
+        "place(first_bottle, bin)"
+      ],
+      "place(first_bottle, bin)": [],
+      "move_to(none,second_bottle)": [
+        "grasp(second_bottle)"
+      ],
+      "grasp(second_bottle)": [
+        "pick_up(second_bottle)"
+      ],
+      "pick_up(second_bottle)": [
+        "move_to(second_bottle, bin)"
+      ],
+      "move_to(second_bottle, bin)": [
+        "place(second_bottle, bin)"
+      ],
+      "place(second_bottle, bin)": [],
+      "grasp(bin_lid)": [
+        "push(bin_lid, bin)"
+      ],
+      "push(bin_lid, bin)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_65036.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_65545",
+    "actions_list": [
+      "move_to(none,lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, black_pot)",
+      "place(lid, black_pot)",
+      "move_to(none, smaller_silver_pot)",
+      "grasp(smaller_silver_pot)",
+      "pick_up(smaller_silver_pot)",
+      "place(smaller_silver_pot, table)",
+      "move_to(none, larger_silver_pot)",
+      "grasp(larger_silver_pot)",
+      "pick_up(larger_silver_pot)",
+      "place(larger_silver_pot, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, black_pot)"
+      ],
+      "move_to(lid, black_pot)": [
+        "place(lid, black_pot)"
+      ],
+      "place(lid, black_pot)": [],
+      "move_to(none, smaller_silver_pot)": [
+        "grasp(smaller_silver_pot)"
+      ],
+      "grasp(smaller_silver_pot)": [
+        "pick_up(smaller_silver_pot)"
+      ],
+      "pick_up(smaller_silver_pot)": [
+        "place(smaller_silver_pot, table)"
+      ],
+      "place(smaller_silver_pot, table)": [],
+      "move_to(none, larger_silver_pot)": [
+        "grasp(larger_silver_pot)"
+      ],
+      "grasp(larger_silver_pot)": [
+        "pick_up(larger_silver_pot)"
+      ],
+      "pick_up(larger_silver_pot)": [
+        "place(larger_silver_pot, table)"
+      ],
+      "place(larger_silver_pot, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_65545.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_69118",
+    "actions_list": [
+      "move_to(none,plushy)",
+      "grasp(plushy)",
+      "pick_up(plushy)",
+      "place(plushy, plate)",
+      "move_to(none,orange_bottle)",
+      "grasp(orange_bottle)",
+      "pick_up(orange_bottle)",
+      "place(orange_bottle, plate)",
+      "move_to(none,white_bottle)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "place(white_bottle, plate)",
+      "move_to(red_bottle)",
+      "grasp(red_bottle)",
+      "pick_up(red_bottle)",
+      "place(red_bottle, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none,plushy)": [
+        "grasp(plushy)"
+      ],
+      "grasp(plushy)": [
+        "pick_up(plushy)"
+      ],
+      "pick_up(plushy)": [
+        "place(plushy, plate)"
+      ],
+      "place(plushy, plate)": [],
+      "move_to(none,orange_bottle)": [
+        "grasp(orange_bottle)"
+      ],
+      "grasp(orange_bottle)": [
+        "pick_up(orange_bottle)"
+      ],
+      "pick_up(orange_bottle)": [
+        "place(orange_bottle, plate)"
+      ],
+      "place(orange_bottle, plate)": [],
+      "move_to(none,white_bottle)": [
+        "grasp(white_bottle)"
+      ],
+      "grasp(white_bottle)": [
+        "pick_up(white_bottle)"
+      ],
+      "pick_up(white_bottle)": [
+        "place(white_bottle, plate)"
+      ],
+      "place(white_bottle, plate)": [],
+      "move_to(red_bottle)": [
+        "grasp(red_bottle)"
+      ],
+      "grasp(red_bottle)": [
+        "pick_up(red_bottle)"
+      ],
+      "pick_up(red_bottle)": [
+        "place(red_bottle, plate)"
+      ],
+      "place(red_bottle, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_69118.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_71296",
+    "actions_list": [
+      "move_to(none, glass_bowl)",
+      "grasp(first_garlic_bulb)",
+      "pick_up(first_garlic_bulb)",
+      "move_to(first_garlic_bulb, countertop)",
+      "place(first_garlic_bulb, countertop)",
+      "move_to(none, bowl)",
+      "grasp(second_garlic_bulb)",
+      "pick_up(second_garlic_bulb)",
+      "move_to(second_garlic_bulb, countertop)",
+      "place(second_garlic_bulb, countertop)",
+      "move_to(none, bowl)",
+      "grasp(third_garlic_bulb)",
+      "pick_up(third_garlic_bulb)",
+      "move_to(third_garlic_bulb, countertop)",
+      "place(third_garlic_bulb, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, glass_bowl)": [
+        "grasp(first_garlic_bulb)"
+      ],
+      "grasp(first_garlic_bulb)": [
+        "pick_up(first_garlic_bulb)"
+      ],
+      "pick_up(first_garlic_bulb)": [
+        "move_to(first_garlic_bulb, countertop)"
+      ],
+      "move_to(first_garlic_bulb, countertop)": [
+        "place(first_garlic_bulb, countertop)"
+      ],
+      "place(first_garlic_bulb, countertop)": [],
+      "grasp(second_garlic_bulb)": [
+        "pick_up(second_garlic_bulb)"
+      ],
+      "pick_up(second_garlic_bulb)": [
+        "move_to(second_garlic_bulb, countertop)"
+      ],
+      "move_to(second_garlic_bulb, countertop)": [
+        "place(second_garlic_bulb, countertop)"
+      ],
+      "place(second_garlic_bulb, countertop)": [],
+      "move_to(none, bowl)": [
+        "grasp(second_garlic_bulb)"
+      ],
+      "grasp(third_garlic_bulb)": [
+        "pick_up(third_garlic_bulb)"
+      ],
+      "pick_up(third_garlic_bulb)": [
+        "move_to(third_garlic_bulb, countertop)"
+      ],
+      "move_to(third_garlic_bulb, countertop)": [
+        "place(third_garlic_bulb, countertop)"
+      ],
+      "place(third_garlic_bulb, countertop)": [],
+      "move_to(none, bowl)<1>": [
+        "grasp(third_garlic_bulb)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_71296.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_71877",
+    "actions_list": [
+      "move_to(none,small_white_bottle)",
+      "grasp(small_white_bottle)",
+      "pick_up(small_white_bottle)",
+      "move_to(white_bottle, plate)",
+      "place(white_bottle, plate)",
+      "move_to(none,orange_labeled_bottle)",
+      "grasp(orange_labeled_bottle)",
+      "pick_up(orange_labeled_bottle)",
+      "move_to(orange_labeled_bottle, plate)",
+      "place(orange_labeled_bottle, plate)",
+      "move_to(none,orange_ball)",
+      "grasp(orange_ball)",
+      "pick_up(orange_ball)",
+      "move_to(orange_ball, plate)",
+      "place(orange_ball, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none,small_white_bottle)": [
+        "grasp(small_white_bottle)"
+      ],
+      "grasp(small_white_bottle)": [
+        "pick_up(small_white_bottle)"
+      ],
+      "pick_up(small_white_bottle)": [
+        "move_to(white_bottle, plate)"
+      ],
+      "move_to(white_bottle, plate)": [
+        "place(white_bottle, plate)"
+      ],
+      "place(white_bottle, plate)": [],
+      "move_to(none,orange_labeled_bottle)": [
+        "grasp(orange_labeled_bottle)"
+      ],
+      "grasp(orange_labeled_bottle)": [
+        "pick_up(orange_labeled_bottle)"
+      ],
+      "pick_up(orange_labeled_bottle)": [
+        "move_to(orange_labeled_bottle, plate)"
+      ],
+      "move_to(orange_labeled_bottle, plate)": [
+        "place(orange_labeled_bottle, plate)"
+      ],
+      "place(orange_labeled_bottle, plate)": [],
+      "move_to(none,orange_ball)": [
+        "grasp(orange_ball)"
+      ],
+      "grasp(orange_ball)": [
+        "pick_up(orange_ball)"
+      ],
+      "pick_up(orange_ball)": [
+        "move_to(orange_ball, plate)"
+      ],
+      "move_to(orange_ball, plate)": [
+        "place(orange_ball, plate)"
+      ],
+      "place(orange_ball, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_71877.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_73027",
+    "actions_list": [
+      "move_to(none, t-shirt)",
+      "grasp(t-shirt)",
+      "pick_up(t-shirt)",
+      "move_to(t-shirt, chair)",
+      "place(t-shirt, chair)"
+    ],
+    "gt_dag": {
+      "move_to(none, t-shirt)": [
+        "grasp(t-shirt)"
+      ],
+      "grasp(t-shirt)": [
+        "pick_up(t-shirt)"
+      ],
+      "pick_up(t-shirt)": [
+        "move_to(t-shirt, chair)"
+      ],
+      "move_to(t-shirt, chair)": [
+        "place(t-shirt, chair)"
+      ],
+      "place(t-shirt, chair)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_73027.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_73078",
+    "actions_list": [
+      "move_to(none, first_towel)",
+      "grasp(first_towel)",
+      "fold(under_side_of_first_towel, upper_side_of_first_towel)",
+      "place(folded_towel, none)",
+      "move_to(none, second_towel)",
+      "grasp(second_towel)",
+      "fold(under_side_of_second_towel, upper_side_of_second_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_towel)": [
+        "grasp(first_towel)"
+      ],
+      "grasp(first_towel)": [
+        "fold(under_side_of_first_towel, upper_side_of_first_towel)"
+      ],
+      "fold(under_side_of_first_towel, upper_side_of_first_towel)": [
+        "place(folded_towel, none)"
+      ],
+      "place(folded_towel, none)": [],
+      "move_to(none, second_towel)": [
+        "grasp(second_towel)"
+      ],
+      "grasp(second_towel)": [
+        "fold(under_side_of_second_towel, upper_side_of_second_towel)"
+      ],
+      "fold(under_side_of_second_towel, upper_side_of_second_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_73078.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_75625",
+    "actions_list": [
+      "move_to(none, orange_block)",
+      "grasp(orange_block)",
+      "pick_up(orange_block)",
+      "move_to(orange_block, table)",
+      "place(orange_block, table)",
+      "move_to(none, green_block)",
+      "grasp(green_block)",
+      "pick_up(green_block)",
+      "move_to(green_block, table)",
+      "place(green_block, table)",
+      "move_to(none,blue_block)",
+      "grasp(blue_block)",
+      "pick_up(blue_block)",
+      "move_to(blue_block, table)",
+      "place(blue_block, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_block)": [
+        "grasp(orange_block)"
+      ],
+      "grasp(orange_block)": [
+        "pick_up(orange_block)"
+      ],
+      "pick_up(orange_block)": [
+        "move_to(orange_block, table)"
+      ],
+      "move_to(orange_block, table)": [
+        "place(orange_block, table)"
+      ],
+      "place(orange_block, table)": [],
+      "move_to(none, green_block)": [
+        "grasp(green_block)"
+      ],
+      "grasp(green_block)": [
+        "pick_up(green_block)"
+      ],
+      "pick_up(green_block)": [
+        "move_to(green_block, table)"
+      ],
+      "move_to(green_block, table)": [
+        "place(green_block, table)"
+      ],
+      "place(green_block, table)": [],
+      "move_to(none,blue_block)": [
+        "grasp(blue_block)"
+      ],
+      "grasp(blue_block)": [
+        "pick_up(blue_block)"
+      ],
+      "pick_up(blue_block)": [
+        "move_to(blue_block, table)"
+      ],
+      "move_to(blue_block, table)": [
+        "place(blue_block, table)"
+      ],
+      "place(blue_block, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_75625.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_77472",
+    "actions_list": [
+      "move_to(none,first_cloth)",
+      "grasp(first_cloth)",
+      "pick_up(first_cloth)",
+      "move_to(first_cloth, backrest)",
+      "place(first_cloth, backrest)",
+      "move_to(none,second_cloth)",
+      "grasp(second_cloth)",
+      "pick_up(second_cloth)",
+      "move_to(second_cloth, backrest)",
+      "place(second_cloth, backrest)",
+      "move_to(none,third_cloth)",
+      "grasp(third_cloth)",
+      "pick_up(third_cloth)",
+      "move_to(third_cloth, backrest)",
+      "place(third_cloth, backrest)",
+      "move_to(none,fourth_cloth)",
+      "grasp(fourth_cloth)",
+      "pick_up(fourth_cloth)",
+      "move_to(fourth_cloth, backrest)",
+      "place(fourth_cloth, backrest)"
+    ],
+    "gt_dag": {
+      "move_to(none,first_cloth)": [
+        "grasp(first_cloth)"
+      ],
+      "grasp(first_cloth)": [
+        "pick_up(first_cloth)"
+      ],
+      "pick_up(first_cloth)": [
+        "move_to(first_cloth, backrest)"
+      ],
+      "move_to(first_cloth, backrest)": [
+        "place(first_cloth, backrest)"
+      ],
+      "place(first_cloth, backrest)": [],
+      "move_to(none,second_cloth)": [
+        "grasp(second_cloth)"
+      ],
+      "grasp(second_cloth)": [
+        "pick_up(second_cloth)"
+      ],
+      "pick_up(second_cloth)": [
+        "move_to(second_cloth, backrest)"
+      ],
+      "move_to(second_cloth, backrest)": [
+        "place(second_cloth, backrest)"
+      ],
+      "place(second_cloth, backrest)": [],
+      "move_to(none,third_cloth)": [
+        "grasp(third_cloth)"
+      ],
+      "grasp(third_cloth)": [
+        "pick_up(third_cloth)"
+      ],
+      "pick_up(third_cloth)": [
+        "move_to(third_cloth, backrest)"
+      ],
+      "move_to(third_cloth, backrest)": [
+        "place(third_cloth, backrest)"
+      ],
+      "place(third_cloth, backrest)": [],
+      "move_to(none,fourth_cloth)": [
+        "grasp(fourth_cloth)"
+      ],
+      "grasp(fourth_cloth)": [
+        "pick_up(fourth_cloth)"
+      ],
+      "pick_up(fourth_cloth)": [
+        "move_to(fourth_cloth, backrest)"
+      ],
+      "move_to(fourth_cloth, backrest)": [
+        "place(fourth_cloth, backrest)"
+      ],
+      "place(fourth_cloth, backrest)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_77472.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_78248",
+    "actions_list": [
+      "move_to(none, cloth_in_basket)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, chair)",
+      "place(cloth, back_of_chair)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth_in_basket)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, chair)"
+      ],
+      "move_to(cloth, chair)": [
+        "place(cloth, back_of_chair)"
+      ],
+      "place(cloth, back_of_chair)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_78248.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_78486",
+    "actions_list": [
+      "move_to(none,orange)",
+      "grasp(orange)",
+      "pick_up(orange)",
+      "move_to(orange, bowl)",
+      "place(orange, bowl)",
+      "move_to(none,lime)",
+      "grasp(lime)",
+      "pick_up(lime)",
+      "move_to(lime, bowl)",
+      "place(lime, bowl)",
+      "move_to(none,banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, other_bowl)",
+      "place(banana, other_bowl)",
+      "move_to(none,last_lime)",
+      "grasp(last_lime)",
+      "pick_up(last_lime)",
+      "move_to(last_lime, other_bowl)",
+      "place(last_lime, other_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none,orange)": [
+        "grasp(orange)"
+      ],
+      "grasp(orange)": [
+        "pick_up(orange)"
+      ],
+      "pick_up(orange)": [
+        "move_to(orange, bowl)"
+      ],
+      "move_to(orange, bowl)": [
+        "place(orange, bowl)"
+      ],
+      "place(orange, bowl)": [],
+      "move_to(none,lime)": [
+        "grasp(lime)"
+      ],
+      "grasp(lime)": [
+        "pick_up(lime)"
+      ],
+      "pick_up(lime)": [
+        "move_to(lime, bowl)"
+      ],
+      "move_to(lime, bowl)": [
+        "place(lime, bowl)"
+      ],
+      "place(lime, bowl)": [],
+      "move_to(none,banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, other_bowl)"
+      ],
+      "move_to(banana, other_bowl)": [
+        "place(banana, other_bowl)"
+      ],
+      "place(banana, other_bowl)": [],
+      "move_to(none,last_lime)": [
+        "grasp(last_lime)"
+      ],
+      "grasp(last_lime)": [
+        "pick_up(last_lime)"
+      ],
+      "pick_up(last_lime)": [
+        "move_to(last_lime, other_bowl)"
+      ],
+      "move_to(last_lime, other_bowl)": [
+        "place(last_lime, other_bowl)"
+      ],
+      "place(last_lime, other_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_78486.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_79467",
+    "actions_list": [
+      "move_to(none,lime)",
+      "grasp(lime)",
+      "pick_up(lime)",
+      "move_to(lime, left_bowl)",
+      "place(lime, left_bowl)",
+      "move_to(none,banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, left_bowl)",
+      "place(banana, left_bowl)",
+      "move_to(none,orange)",
+      "grasp(orange)",
+      "pick_up(orange)",
+      "place(orange, left_bowl)",
+      "move_to(orange, left_bowl)",
+      "move_to(none,apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple, left_bowl)",
+      "place(apple, left_bowl)",
+      "move_to(none,carrot)",
+      "grasp(carrot)",
+      "pick_up(carrot)",
+      "move_to(carrot, right_bowl)",
+      "place(carrot, right_bowl)",
+      "move_to(none,red_pepper)",
+      "grasp(red_pepper)",
+      "pick_up(red_pepper)",
+      "move_to(red_pepper, right_bowl)",
+      "place(red_pepper, right_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none,lime)": [
+        "grasp(lime)"
+      ],
+      "grasp(lime)": [
+        "pick_up(lime)"
+      ],
+      "pick_up(lime)": [
+        "move_to(lime, left_bowl)"
+      ],
+      "move_to(lime, left_bowl)": [
+        "place(lime, left_bowl)"
+      ],
+      "place(lime, left_bowl)": [],
+      "move_to(none,banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, left_bowl)"
+      ],
+      "move_to(banana, left_bowl)": [
+        "place(banana, left_bowl)"
+      ],
+      "place(banana, left_bowl)": [],
+      "move_to(none,orange)": [
+        "grasp(orange)"
+      ],
+      "grasp(orange)": [
+        "pick_up(orange)"
+      ],
+      "pick_up(orange)": [
+        "move_to(orange, left_bowl)"
+      ],
+      "place(orange, left_bowl)": [],
+      "move_to(orange, left_bowl)": [
+        "place(orange, left_bowl)"
+      ],
+      "move_to(none,apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple, left_bowl)"
+      ],
+      "move_to(apple, left_bowl)": [
+        "place(apple, left_bowl)"
+      ],
+      "place(apple, left_bowl)": [],
+      "move_to(none,carrot)": [
+        "grasp(carrot)"
+      ],
+      "grasp(carrot)": [
+        "pick_up(carrot)"
+      ],
+      "pick_up(carrot)": [
+        "move_to(carrot, right_bowl)"
+      ],
+      "move_to(carrot, right_bowl)": [
+        "place(carrot, right_bowl)"
+      ],
+      "place(carrot, right_bowl)": [],
+      "move_to(none,red_pepper)": [
+        "grasp(red_pepper)"
+      ],
+      "grasp(red_pepper)": [
+        "pick_up(red_pepper)"
+      ],
+      "pick_up(red_pepper)": [
+        "move_to(red_pepper, right_bowl)"
+      ],
+      "move_to(red_pepper, right_bowl)": [
+        "place(red_pepper, right_bowl)"
+      ],
+      "place(red_pepper, right_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_79467.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_79694",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, table)",
+      "place(cup, table)",
+      "move_to(none, basket)",
+      "grasp(basket)",
+      "pick_up(basket)",
+      "move_to(basket, table)",
+      "place(basket, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": [],
+      "move_to(none, basket)": [
+        "grasp(basket)"
+      ],
+      "grasp(basket)": [
+        "pick_up(basket)"
+      ],
+      "pick_up(basket)": [
+        "move_to(basket, table)"
+      ],
+      "move_to(basket, table)": [
+        "place(basket, table)"
+      ],
+      "place(basket, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_79694.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_83207",
+    "actions_list": [
+      "move_to(none, apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple, top_right_corner_of_the_countertop)",
+      "place(apple, top_right_corner_of_the_countertop)",
+      "move_to(none,first_green_block)",
+      "grasp(first_green_block)",
+      "pick_up(first_green_block)",
+      "move_to(first_green_block,bowl)",
+      "place(first_green_blockttle,bowl)",
+      "move_to(none,second_green_block)",
+      "grasp(second_green_block)",
+      "pick_up(second_green_block)",
+      "move_to(second_green_block,bowl)",
+      "place(second_green_block,bowl)",
+      "move_to(none,third_green_block)",
+      "grasp(third_green_block)",
+      "pick_up(third_green_block)",
+      "move_to(third_green_block,bowl)",
+      "place(third_green_blockk,bowl)",
+      "move_to(none,first_yellow_block)",
+      "grasp(first_yellow_block)",
+      "pick_up(first_yellow_block)",
+      "move_to(first_yellow_block,bowl)",
+      "place(first_yellow_block,bowl)",
+      "move_to(none,second_yellow_block)",
+      "grasp(second_yellow_block)",
+      "pick_up(second_yellow_block)",
+      "move_to(second_yellow_block,bowl)",
+      "place(second_yellow_block,bowl)",
+      "move_to(none,first_orange_block)",
+      "grasp(first_orange_block)",
+      "pick_up(first_orange_block)",
+      "move_to(first_orange_block,bowl)",
+      "place(first_orange_block,bowl)",
+      "move_to(none,second_orange_block)",
+      "grasp(second_orange_block)",
+      "pick_up(second_orange_block)",
+      "move_to(second_orange_block,bowl)",
+      "place(second_orange_block,bowl)",
+      "move_to(none,third_orange_block)",
+      "grasp(third_orange_block)",
+      "pick_up(third_orange_block)",
+      "move_to(third_orange_block,bowl)",
+      "place(third_orange_block,bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple, top_right_corner_of_the_countertop)"
+      ],
+      "move_to(apple, top_right_corner_of_the_countertop)": [
+        "place(apple, top_right_corner_of_the_countertop)"
+      ],
+      "place(apple, top_right_corner_of_the_countertop)": [],
+      "move_to(none,first_green_block)": [
+        "grasp(first_green_block)"
+      ],
+      "grasp(first_green_block)": [
+        "pick_up(first_green_block)"
+      ],
+      "pick_up(first_green_block)": [
+        "move_to(first_green_block,bowl)"
+      ],
+      "move_to(first_green_block,bowl)": [
+        "place(first_green_blockttle,bowl)"
+      ],
+      "place(first_green_blockttle,bowl)": [],
+      "move_to(none,second_green_block)": [
+        "grasp(second_green_block)"
+      ],
+      "grasp(second_green_block)": [
+        "pick_up(second_green_block)"
+      ],
+      "pick_up(second_green_block)": [
+        "move_to(second_green_block,bowl)"
+      ],
+      "move_to(second_green_block,bowl)": [
+        "place(second_green_block,bowl)"
+      ],
+      "place(second_green_block,bowl)": [],
+      "move_to(none,third_green_block)": [
+        "grasp(third_green_block)"
+      ],
+      "grasp(third_green_block)": [
+        "pick_up(third_green_block)"
+      ],
+      "pick_up(third_green_block)": [
+        "move_to(third_green_block,bowl)"
+      ],
+      "move_to(third_green_block,bowl)": [
+        "place(third_green_blockk,bowl)"
+      ],
+      "place(third_green_blockk,bowl)": [],
+      "move_to(none,first_yellow_block)": [
+        "grasp(first_yellow_block)"
+      ],
+      "grasp(first_yellow_block)": [
+        "pick_up(first_yellow_block)"
+      ],
+      "pick_up(first_yellow_block)": [
+        "move_to(first_yellow_block,bowl)"
+      ],
+      "move_to(first_yellow_block,bowl)": [
+        "place(first_yellow_block,bowl)"
+      ],
+      "place(first_yellow_block,bowl)": [],
+      "move_to(none,second_yellow_block)": [
+        "grasp(second_yellow_block)"
+      ],
+      "grasp(second_yellow_block)": [
+        "pick_up(second_yellow_block)"
+      ],
+      "pick_up(second_yellow_block)": [
+        "move_to(second_yellow_block,bowl)"
+      ],
+      "move_to(second_yellow_block,bowl)": [
+        "place(second_yellow_block,bowl)"
+      ],
+      "place(second_yellow_block,bowl)": [],
+      "move_to(none,first_orange_block)": [
+        "grasp(first_orange_block)"
+      ],
+      "grasp(first_orange_block)": [
+        "pick_up(first_orange_block)"
+      ],
+      "pick_up(first_orange_block)": [
+        "move_to(first_orange_block,bowl)"
+      ],
+      "move_to(first_orange_block,bowl)": [
+        "place(first_orange_block,bowl)"
+      ],
+      "place(first_orange_block,bowl)": [],
+      "move_to(none,second_orange_block)": [
+        "grasp(second_orange_block)"
+      ],
+      "grasp(second_orange_block)": [
+        "pick_up(second_orange_block)"
+      ],
+      "pick_up(second_orange_block)": [
+        "move_to(second_orange_block,bowl)"
+      ],
+      "move_to(second_orange_block,bowl)": [
+        "place(second_orange_block,bowl)"
+      ],
+      "place(second_orange_block,bowl)": [],
+      "move_to(none,third_orange_block)": [
+        "grasp(third_orange_block)"
+      ],
+      "grasp(third_orange_block)": [
+        "pick_up(third_orange_block)"
+      ],
+      "pick_up(third_orange_block)": [
+        "move_to(third_orange_block,bowl)"
+      ],
+      "move_to(third_orange_block,bowl)": [
+        "place(third_orange_block,bowl)"
+      ],
+      "place(third_orange_block,bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_83207.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_84631",
+    "actions_list": [
+      "move_to(none, white_and_blue_towel)",
+      "grasp(white_and_blue_towel)",
+      "pick_up(white_and_blue_towel)",
+      "move_to(white_and_blue_towel, middle_compartment_of_the_cabinet)",
+      "place(white_and_blue_towel, middle_compartment)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_and_blue_towel)": [
+        "grasp(white_and_blue_towel)"
+      ],
+      "grasp(white_and_blue_towel)": [
+        "pick_up(white_and_blue_towel)"
+      ],
+      "pick_up(white_and_blue_towel)": [
+        "move_to(white_and_blue_towel, middle_compartment_of_the_cabinet)"
+      ],
+      "move_to(white_and_blue_towel, middle_compartment_of_the_cabinet)": [
+        "place(white_and_blue_towel, middle_compartment)"
+      ],
+      "place(white_and_blue_towel, middle_compartment)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_84631.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_84755",
+    "actions_list": [
+      "move_to(none, yellow_container)",
+      "grasp(yellow_container)",
+      "pick_up(yellow_container)",
+      "move_to(yellow_container, bag)",
+      "place(yellow_container, bag)",
+      "move_to(none,red_container)",
+      "grasp(red_container)",
+      "pick_up(red_container)",
+      "move_to(red_container, bag)",
+      "place(red_container,bag)",
+      "move_to(none,brown_bottle)",
+      "grasp(brown_bottle)",
+      "pick_up(brown_bottle)",
+      "move_to(brown_bottle, bag)",
+      "place(brown_bottle,bag)",
+      "move_to(none,white_bottle)",
+      "grasp(white_bottle)",
+      "pick_up(white_bottle)",
+      "move_to(white_bottle, bag)",
+      "place(white_bottle,bag)",
+      "move_to(none,green_container)",
+      "grasp(green_container)",
+      "pick_up(green_container)",
+      "move_to(green_container, bag)",
+      "place(green_container,bag)",
+      "move_to(none,orange_container)",
+      "grasp(orange_container)",
+      "pick_up(orange_container)",
+      "move_to(orange_container, bag)",
+      "place(orange_container,bag)",
+      "move_to(none,red_bottle)",
+      "grasp(red_bottle)",
+      "pick_up(red_bottle)",
+      "move_to(red_bottle, bag)",
+      "place(red_bottle,bag)"
+    ],
+    "gt_dag": {
+      "move_to(none, yellow_container)": [
+        "grasp(yellow_container)"
+      ],
+      "grasp(yellow_container)": [
+        "pick_up(yellow_container)"
+      ],
+      "pick_up(yellow_container)": [
+        "move_to(yellow_container, bag)"
+      ],
+      "move_to(yellow_container, bag)": [
+        "place(yellow_container, bag)"
+      ],
+      "place(yellow_container, bag)": [],
+      "move_to(none,red_container)": [
+        "grasp(red_container)"
+      ],
+      "grasp(red_container)": [
+        "pick_up(red_container)"
+      ],
+      "pick_up(red_container)": [
+        "move_to(red_container, bag)"
+      ],
+      "move_to(red_container, bag)": [
+        "place(red_container,bag)"
+      ],
+      "place(red_container,bag)": [],
+      "move_to(none,brown_bottle)": [
+        "grasp(brown_bottle)"
+      ],
+      "grasp(brown_bottle)": [
+        "pick_up(brown_bottle)"
+      ],
+      "pick_up(brown_bottle)": [
+        "move_to(brown_bottle, bag)"
+      ],
+      "move_to(brown_bottle, bag)": [
+        "place(brown_bottle,bag)"
+      ],
+      "place(brown_bottle,bag)": [
+        "move_to(none,white_bottle)"
+      ],
+      "move_to(none,white_bottle)": [
+        "grasp(white_bottle)"
+      ],
+      "grasp(white_bottle)": [
+        "pick_up(white_bottle)"
+      ],
+      "pick_up(white_bottle)": [
+        "move_to(white_bottle, bag)"
+      ],
+      "move_to(white_bottle, bag)": [
+        "place(white_bottle,bag)"
+      ],
+      "place(white_bottle,bag)": [],
+      "move_to(none,green_container)": [
+        "grasp(green_container)"
+      ],
+      "grasp(green_container)": [
+        "pick_up(green_container)"
+      ],
+      "pick_up(green_container)": [
+        "move_to(green_container, bag)"
+      ],
+      "move_to(green_container, bag)": [
+        "place(green_container,bag)"
+      ],
+      "place(green_container,bag)": [],
+      "move_to(none,orange_container)": [
+        "grasp(orange_container)"
+      ],
+      "grasp(orange_container)": [
+        "pick_up(orange_container)"
+      ],
+      "pick_up(orange_container)": [
+        "move_to(orange_container, bag)"
+      ],
+      "move_to(orange_container, bag)": [
+        "place(orange_container,bag)"
+      ],
+      "place(orange_container,bag)": [],
+      "move_to(none,red_bottle)": [
+        "grasp(red_bottle)"
+      ],
+      "grasp(red_bottle)": [
+        "pick_up(red_bottle)"
+      ],
+      "pick_up(red_bottle)": [
+        "move_to(red_bottle, bag)"
+      ],
+      "move_to(red_bottle, bag)": [
+        "place(red_bottle,bag)"
+      ],
+      "place(red_bottle,bag)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_84755.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_85099",
+    "actions_list": [
+      "move_to(first_bottles)",
+      "grasp(first_bottles)",
+      "pick_up(first_bottles)",
+      "move_to(first_bottles, plate)",
+      "place(first_bottles, plate)",
+      "move_to(none,second_bottles)",
+      "grasp(second_bottles)",
+      "pick_up(second_bottles)",
+      "move_to(second_bottles, plate)",
+      "place(second_bottles, plate)",
+      "move_to(none,third_bottle)",
+      "grasp(third_bottle)",
+      "pick_up(third_bottle)",
+      "move_to(third_bottle, plate)",
+      "place(third_bottle, plate)",
+      "move_to(none,first_box)",
+      "grasp(first_box)",
+      "pick_up(first_box)",
+      "move_to(first_box, grey_surface)",
+      "place(first_box, grey_surface)",
+      "move_to(none,second_box)",
+      "grasp(second_box)",
+      "pick_up(second_box)",
+      "move_to(second_box, grey_surface)",
+      "place(second_box, grey_surface)"
+    ],
+    "gt_dag": {
+      "move_to(first_bottles)": [
+        "grasp(first_bottles)"
+      ],
+      "grasp(first_bottles)": [
+        "pick_up(first_bottles)"
+      ],
+      "pick_up(first_bottles)": [
+        "move_to(first_bottles, plate)"
+      ],
+      "move_to(first_bottles, plate)": [
+        "place(first_bottles, plate)"
+      ],
+      "place(first_bottles, plate)": [],
+      "move_to(none,second_bottles)": [
+        "grasp(second_bottles)"
+      ],
+      "grasp(second_bottles)": [
+        "pick_up(second_bottles)"
+      ],
+      "pick_up(second_bottles)": [
+        "move_to(second_bottles, plate)"
+      ],
+      "move_to(second_bottles, plate)": [
+        "place(second_bottles, plate)"
+      ],
+      "place(second_bottles, plate)": [],
+      "move_to(none,third_bottle)": [
+        "grasp(third_bottle)"
+      ],
+      "grasp(third_bottle)": [
+        "pick_up(third_bottle)"
+      ],
+      "pick_up(third_bottle)": [
+        "move_to(third_bottle, plate)"
+      ],
+      "move_to(third_bottle, plate)": [
+        "place(third_bottle, plate)"
+      ],
+      "place(third_bottle, plate)": [],
+      "move_to(none,first_box)": [
+        "grasp(first_box)"
+      ],
+      "grasp(first_box)": [
+        "pick_up(first_box)"
+      ],
+      "pick_up(first_box)": [
+        "move_to(first_box, grey_surface)"
+      ],
+      "move_to(first_box, grey_surface)": [
+        "place(first_box, grey_surface)"
+      ],
+      "place(first_box, grey_surface)": [],
+      "move_to(none,second_box)": [
+        "grasp(second_box)"
+      ],
+      "grasp(second_box)": [
+        "pick_up(second_box)"
+      ],
+      "pick_up(second_box)": [
+        "move_to(second_box, grey_surface)"
+      ],
+      "move_to(second_box, grey_surface)": [
+        "place(second_box, grey_surface)"
+      ],
+      "place(second_box, grey_surface)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_85099.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_86196",
+    "actions_list": [
+      "move_to(none,firist_ garlic_cloves)",
+      "grasp(first_garlic_clove)",
+      "pick_up(first_garlic_clove)",
+      "move_to(first_garlic_clove, glass_dish)",
+      "place(first_garlic_clove, glass_dish)",
+      "move_to(none,second_garlic_cloves)",
+      "grasp(second_garlic_clove)",
+      "pick_up(second_garlic_clove)",
+      "move_to(second_garlic_clove, glass_dish)",
+      "place(second_garlic_clove, glass_dish)",
+      "move_to(none, third_garlic_cloves)",
+      "grasp(third_garlic_clove)",
+      "pick_up(third_garlic_clove)",
+      "move_to(third_garlic_clove, glass_dish)",
+      "place(third_garlic_clove, glass_dish)"
+    ],
+    "gt_dag": {
+      "move_to(none,firist_ garlic_cloves)": [
+        "grasp(first_garlic_clove)"
+      ],
+      "grasp(first_garlic_clove)": [
+        "pick_up(first_garlic_clove)"
+      ],
+      "pick_up(first_garlic_clove)": [
+        "move_to(first_garlic_clove, glass_dish)"
+      ],
+      "move_to(first_garlic_clove, glass_dish)": [
+        "place(first_garlic_clove, glass_dish)"
+      ],
+      "place(first_garlic_clove, glass_dish)": [],
+      "move_to(none,second_garlic_cloves)": [
+        "grasp(second_garlic_clove)"
+      ],
+      "grasp(second_garlic_clove)": [
+        "pick_up(second_garlic_clove)"
+      ],
+      "pick_up(second_garlic_clove)": [
+        "move_to(second_garlic_clove, glass_dish)"
+      ],
+      "move_to(second_garlic_clove, glass_dish)": [
+        "place(second_garlic_clove, glass_dish)"
+      ],
+      "place(second_garlic_clove, glass_dish)": [],
+      "move_to(none, third_garlic_cloves)": [
+        "grasp(third_garlic_clove)"
+      ],
+      "grasp(third_garlic_clove)": [
+        "pick_up(third_garlic_clove)"
+      ],
+      "pick_up(third_garlic_clove)": [
+        "move_to(third_garlic_clove, glass_dish)"
+      ],
+      "move_to(third_garlic_clove, glass_dish)": [
+        "place(third_garlic_clove, glass_dish)"
+      ],
+      "place(third_garlic_clove, glass_dish)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_86196.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_90872",
+    "actions_list": [
+      "move_to(none, first_cup)",
+      "grasp(first_cup)",
+      "pick_up(first_cup)",
+      "move_to(first_cup, second_cup)",
+      "place(first_cup, second_cup)",
+      "grasp(stacked_cups)",
+      "pick_up(stacked_cups)",
+      "move_to(stacked_cups, third_cup)",
+      "place(stacked_cups, third_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_cup)": [
+        "grasp(first_cup)"
+      ],
+      "grasp(first_cup)": [
+        "pick_up(first_cup)"
+      ],
+      "pick_up(first_cup)": [
+        "move_to(first_cup, second_cup)"
+      ],
+      "move_to(first_cup, second_cup)": [
+        "place(first_cup, second_cup)"
+      ],
+      "place(first_cup, second_cup)": [],
+      "grasp(stacked_cups)": [
+        "pick_up(stacked_cups)"
+      ],
+      "pick_up(stacked_cups)": [
+        "move_to(stacked_cups, third_cup)"
+      ],
+      "move_to(stacked_cups, third_cup)": [
+        "place(stacked_cups, third_cup)"
+      ],
+      "place(stacked_cups, third_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_90872.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-99_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, crumpled_paper)",
+      "grasp(crumpled_paper)",
+      "pick_up(crumpled_paper)",
+      "move_to(crumpled_paper, trash_can)",
+      "place(crumpled_paper, trash_can)",
+      "move_to(none, crumpled_paper)",
+      "grasp(crumpled_paper)",
+      "pick_up(crumpled_paper)",
+      "move_to(crumpled_paper, trash_can)",
+      "place(crumpled_paper, trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none, crumpled_paper)": [
+        "grasp(crumpled_paper)"
+      ],
+      "grasp(crumpled_paper)": [
+        "pick_up(crumpled_paper)"
+      ],
+      "pick_up(crumpled_paper)": [
+        "move_to(crumpled_paper, trash_can)"
+      ],
+      "move_to(crumpled_paper, trash_can)": [
+        "place(crumpled_paper, trash_can)"
+      ],
+      "place(crumpled_paper, trash_can)": [],
+      "move_to(none, crumpled_paper)<1>": [
+        "grasp(crumpled_paper)<1>"
+      ],
+      "grasp(crumpled_paper)<1>": [
+        "pick_up(crumpled_paper)<1>"
+      ],
+      "pick_up(crumpled_paper)<1>": [
+        "move_to(crumpled_paper, trash_can)<1>"
+      ],
+      "move_to(crumpled_paper, trash_can)<1>": [
+        "place(crumpled_paper, trash_can)<1>"
+      ],
+      "place(crumpled_paper, trash_can)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-99_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-92_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, bottom_garbage)",
+      "grasp(bottom_garbage)",
+      "pick_up(bottom_garbage)",
+      "move_to(bottom_garbage, trash_can)",
+      "place(bottom_garbage, trash_can)",
+      "move_to(none, top_garbage)",
+      "grasp(top_garbage)",
+      "pick_up(top_garbage)",
+      "move_to(top_garbage, trash_can)",
+      "place(top_garbage, trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottom_garbage)": [
+        "grasp(bottom_garbage)"
+      ],
+      "grasp(bottom_garbage)": [
+        "pick_up(bottom_garbage)"
+      ],
+      "pick_up(bottom_garbage)": [
+        "move_to(bottom_garbage, trash_can)"
+      ],
+      "move_to(bottom_garbage, trash_can)": [
+        "place(bottom_garbage, trash_can)"
+      ],
+      "place(bottom_garbage, trash_can)": [],
+      "move_to(none, top_garbage)": [
+        "grasp(top_garbage)"
+      ],
+      "grasp(top_garbage)": [
+        "pick_up(top_garbage)"
+      ],
+      "pick_up(top_garbage)": [
+        "move_to(top_garbage, trash_can)"
+      ],
+      "move_to(top_garbage, trash_can)": [
+        "place(top_garbage, trash_can)"
+      ],
+      "place(top_garbage, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-92_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-92_episode-2_rgbd-1",
+    "actions_list": [
+      "move_to(none, first_garbage)",
+      "grasp(first_garbage)",
+      "pick_up(first_garbage)",
+      "move_to(first_garbage, trash_can)",
+      "place(first_garbage, trash_can)",
+      "move_to(none, second_garbage)",
+      "grasp(second_garbage)",
+      "pick_up(second_garbage)",
+      "move_to(second_garbage, trash_can)",
+      "place(second_garbage, trash_can)",
+      "move_to(none, third_garbage)",
+      "grasp(third_garbage)",
+      "pick_up(third_garbage)",
+      "move_to(third_garbage, trash_can)",
+      "place(third_garbage, trash_can)",
+      "move_to(none, fourth_garbage)",
+      "grasp(fourth_garbage)",
+      "pick_up(fourth_garbage)",
+      "move_to(fourth_garbage, trash_can)",
+      "place(fourth_garbage, trash_can)",
+      "move_to(none, last_garbage)",
+      "grasp(last_garbage)",
+      "pick_up(last_garbage)",
+      "move_to(last_garbage, trash_can)",
+      "place(last_garbage, trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_garbage)": [
+        "grasp(first_garbage)"
+      ],
+      "grasp(first_garbage)": [
+        "pick_up(first_garbage)"
+      ],
+      "pick_up(first_garbage)": [
+        "move_to(first_garbage, trash_can)"
+      ],
+      "move_to(first_garbage, trash_can)": [
+        "place(first_garbage, trash_can)"
+      ],
+      "place(first_garbage, trash_can)": [],
+      "move_to(none, second_garbage)": [
+        "grasp(second_garbage)"
+      ],
+      "grasp(second_garbage)": [
+        "pick_up(second_garbage)"
+      ],
+      "pick_up(second_garbage)": [
+        "move_to(second_garbage, trash_can)"
+      ],
+      "move_to(second_garbage, trash_can)": [
+        "place(second_garbage, trash_can)"
+      ],
+      "place(second_garbage, trash_can)": [],
+      "move_to(none, third_garbage)": [
+        "grasp(third_garbage)"
+      ],
+      "grasp(third_garbage)": [
+        "pick_up(third_garbage)"
+      ],
+      "pick_up(third_garbage)": [
+        "move_to(third_garbage, trash_can)"
+      ],
+      "move_to(third_garbage, trash_can)": [
+        "place(third_garbage, trash_can)"
+      ],
+      "place(third_garbage, trash_can)": [],
+      "move_to(none, fourth_garbage)": [
+        "grasp(fourth_garbage)"
+      ],
+      "grasp(fourth_garbage)": [
+        "pick_up(fourth_garbage)"
+      ],
+      "pick_up(fourth_garbage)": [
+        "move_to(fourth_garbage, trash_can)"
+      ],
+      "move_to(fourth_garbage, trash_can)": [
+        "place(fourth_garbage, trash_can)"
+      ],
+      "place(fourth_garbage, trash_can)": [],
+      "move_to(none, last_garbage)": [
+        "grasp(last_garbage)"
+      ],
+      "grasp(last_garbage)": [
+        "pick_up(last_garbage)"
+      ],
+      "pick_up(last_garbage)": [
+        "move_to(last_garbage, trash_can)"
+      ],
+      "move_to(last_garbage, trash_can)": [
+        "place(last_garbage, trash_can)"
+      ],
+      "place(last_garbage, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-92_episode-2_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/RDT-FT_imgs_1_pick_out_clip_episode_13",
+    "actions_list": [
+      "left:no_ops, right:grasp(first_clip)",
+      "left:no_ops, right:pick_up(first_clip)",
+      "left:no_ops, right:move_to(first_clip, box_left)",
+      "left:no_ops, right:place(first_clip, table)",
+      "left:no_ops, right:move_to(none, box)",
+      "left:no_ops, right:grasp(second_clip)",
+      "left:no_ops, right:pick_up(second_clip)",
+      "left:no_ops, right:move_to(second_clip, box_left)",
+      "left:no_ops, right:place(second_clip, table)",
+      "left:move_to(none,third_clip), right:no_ops",
+      "left:grasp(third_clip), right:no_ops",
+      "left:pick_up(third_clip), right:no_ops",
+      "left:move_to(third_clip,left_box), right:no_ops",
+      "left:place(third_clip,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:grasp(first_clip)": [
+        "left:no_ops, right:pick_up(first_clip)"
+      ],
+      "left:no_ops, right:pick_up(first_clip)": [
+        "left:no_ops, right:move_to(first_clip, box_left)"
+      ],
+      "left:no_ops, right:move_to(first_clip, box_left)": [
+        "left:no_ops, right:place(first_clip, table)"
+      ],
+      "left:no_ops, right:place(first_clip, table)": [],
+      "left:no_ops, right:move_to(none, box)": [
+        "left:no_ops, right:grasp(second_clip)"
+      ],
+      "left:no_ops, right:grasp(second_clip)": [
+        "left:no_ops, right:pick_up(second_clip)"
+      ],
+      "left:no_ops, right:pick_up(second_clip)": [
+        "left:no_ops, right:move_to(second_clip, box_left)"
+      ],
+      "left:no_ops, right:move_to(second_clip, box_left)": [
+        "left:no_ops, right:place(second_clip, table)"
+      ],
+      "left:no_ops, right:place(second_clip, table)": [],
+      "left:move_to(none,third_clip), right:no_ops": [
+        "left:grasp(third_clip), right:no_ops"
+      ],
+      "left:grasp(third_clip), right:no_ops": [
+        "left:pick_up(third_clip), right:no_ops"
+      ],
+      "left:pick_up(third_clip), right:no_ops": [
+        "left:move_to(third_clip,left_box), right:no_ops"
+      ],
+      "left:move_to(third_clip,left_box), right:no_ops": [
+        "left:place(third_clip,table), right:no_ops"
+      ],
+      "left:place(third_clip,table), right:no_ops": []
+    }
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/RDT-FT_imgs_1_gather_paper_ball_episode_12",
+    "actions_list": [
+      "move_to(none, furthest_paper_ball)",
+      "grasp(furthest_paper_ball)",
+      "pick_up(furthest_paper_ball)",
+      "move_to(paper_ball, trash_can)",
+      "place(paper_ball, trash_can)",
+      "move_to(none, nearest_paper_ball)",
+      "grasp(nearest_paper_ball)",
+      "pick_up(nearest_paper_ball)",
+      "move_to(paper_ball, trash_can)",
+      "place(paper_ball, trash_can)",
+      "move_to(none, second_nearest_paper_ball)",
+      "grasp(second_nearest_paper_ball)",
+      "pick_up(second_nearest_paper_ball)",
+      "move_to(paper_ball, trash_can)",
+      "place(paper_ball, trash_can)",
+      "move_to(none, third_furthest_paper_ball)",
+      "grasp(third_furthest_paper_ball)",
+      "pick_up(third_furthest_paper_ball)",
+      "move_to(paper_ball, trash_can)",
+      "place(paper_ball, trash_can)",
+      "move_to(none, last_paper_ball)",
+      "grasp(last_paper_ball)",
+      "pick_up(last_paper_ball)",
+      "move_to(paper_ball, trash_can)",
+      "place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none, furthest_paper_ball)": [
+        "grasp(furthest_paper_ball)"
+      ],
+      "grasp(furthest_paper_ball)": [
+        "pick_up(furthest_paper_ball)"
+      ],
+      "pick_up(furthest_paper_ball)": [
+        "move_to(paper_ball, trash_can)"
+      ],
+      "move_to(none, nearest_paper_ball)": [
+        "grasp(nearest_paper_ball)"
+      ],
+      "grasp(nearest_paper_ball)": [
+        "pick_up(nearest_paper_ball)"
+      ],
+      "pick_up(nearest_paper_ball)": [
+        "move_to(paper_ball, trash_can)<1>"
+      ],
+      "move_to(none, second_nearest_paper_ball)": [
+        "grasp(second_nearest_paper_ball)"
+      ],
+      "grasp(second_nearest_paper_ball)": [
+        "pick_up(second_nearest_paper_ball)"
+      ],
+      "pick_up(second_nearest_paper_ball)": [
+        "move_to(paper_ball, trash_can)<2>"
+      ],
+      "move_to(none, third_furthest_paper_ball)": [
+        "grasp(third_furthest_paper_ball)"
+      ],
+      "grasp(third_furthest_paper_ball)": [
+        "pick_up(third_furthest_paper_ball)"
+      ],
+      "pick_up(third_furthest_paper_ball)": [
+        "move_to(paper_ball, trash_can)<3>"
+      ],
+      "move_to(none, last_paper_ball)": [
+        "grasp(last_paper_ball)"
+      ],
+      "grasp(last_paper_ball)": [
+        "pick_up(last_paper_ball)"
+      ],
+      "pick_up(last_paper_ball)": [
+        "move_to(paper_ball, trash_can)<4>"
+      ],
+      "move_to(paper_ball, trash_can)": [
+        "place(paper_ball, trash_can)"
+      ],
+      "place(paper_ball, trash_can)": [],
+      "move_to(paper_ball, trash_can)<1>": [
+        "place(paper_ball, trash_can)<1>"
+      ],
+      "place(paper_ball, trash_can)<1>": [],
+      "move_to(paper_ball, trash_can)<2>": [
+        "place(paper_ball, trash_can)<2>"
+      ],
+      "place(paper_ball, trash_can)<2>": [],
+      "move_to(paper_ball, trash_can)<3>": [
+        "place(paper_ball, trash_can)<3>"
+      ],
+      "place(paper_ball, trash_can)<3>": [],
+      "move_to(paper_ball, trash_can)<4>": [
+        "place(paper_ball, trash_can)<4>"
+      ],
+      "place(paper_ball, trash_can)<4>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_RDT-FT_imgs_1_gather_paper_ball_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32564",
+    "actions_list": [
+      "move_to(none, left_red_rectangular_block)",
+      "grasp(left_red_rectangular_block)",
+      "pick_up(left_red_rectangular_block)",
+      "move_to(left_red_rectangular_block, right_red_cube_top)",
+      "place(red_rectangular_block, red_cube)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_red_rectangular_block)": [
+        "grasp(left_red_rectangular_block)"
+      ],
+      "grasp(left_red_rectangular_block)": [
+        "pick_up(left_red_rectangular_block)"
+      ],
+      "pick_up(left_red_rectangular_block)": [
+        "move_to(left_red_rectangular_block, right_red_cube_top)"
+      ],
+      "move_to(left_red_rectangular_block, right_red_cube_top)": [
+        "place(red_rectangular_block, red_cube)"
+      ],
+      "place(red_rectangular_block, red_cube)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32564.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_51",
+    "actions_list": [
+      "move_to(none, left_liquid_cup)",
+      "grasp(left_liquid_cup)",
+      "pick_up(left_liquid_cup)",
+      "move_to(left_liquid_cup, blue_cup)",
+      "pour(left_liquid_cup, liquid, blue_cup)",
+      "move_to(cup, original_position)",
+      "place(cup, red_plate)",
+      "move_to(none, right_liquid_cup_on_red_plate)",
+      "grasp( right_liquid_cup_on_red_plate)",
+      "pick_up( right_liquid_cup_on_red_plate)",
+      "move_to( right_liquid_cup_on_red_plate, yellow_cup)",
+      "pour(second_liquid_cup, liquid, yellow_cup)",
+      "move_to(cup, original_position)",
+      "place(cup, red_plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_liquid_cup)": [
+        "grasp(left_liquid_cup)"
+      ],
+      "grasp(left_liquid_cup)": [
+        "pick_up(left_liquid_cup)"
+      ],
+      "pick_up(left_liquid_cup)": [
+        "move_to(left_liquid_cup, blue_cup)"
+      ],
+      "move_to(left_liquid_cup, blue_cup)": [
+        "pour(left_liquid_cup, liquid, blue_cup)"
+      ],
+      "pour(left_liquid_cup, liquid, blue_cup)": [
+        "move_to(cup, original_position)"
+      ],
+      "move_to(none, right_liquid_cup_on_red_plate)": [
+        "grasp( right_liquid_cup_on_red_plate)"
+      ],
+      "grasp( right_liquid_cup_on_red_plate)": [
+        "pick_up( right_liquid_cup_on_red_plate)"
+      ],
+      "pick_up( right_liquid_cup_on_red_plate)": [
+        "move_to( right_liquid_cup_on_red_plate, yellow_cup)"
+      ],
+      "move_to( right_liquid_cup_on_red_plate, yellow_cup)": [
+        "pour(second_liquid_cup, liquid, yellow_cup)"
+      ],
+      "pour(second_liquid_cup, liquid, yellow_cup)": [
+        "move_to(cup, original_position)<1>"
+      ],
+      "move_to(cup, original_position)": [
+        "place(cup, red_plate)"
+      ],
+      "place(cup, red_plate)": [],
+      "move_to(cup, original_position)<1>": [
+        "place(cup, red_plate)<1>"
+      ],
+      "place(cup, red_plate)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_51.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_9560",
+    "actions_list": [
+      "move_to(none, red_spoon_handle)",
+      "grasp(red_spoon_handle)",
+      "pick_up(red_spoon_handle)",
+      "scoop(spoon, chili_pepper, bowl)",
+      "move_to(spoon, small_pot)",
+      "pour(spoon, chili pepper, small_pot)",
+      "move_to(none, lid_of_the_small_pot)",
+      "grasp(lid_of_the_small_pot)",
+      "pick_up(lid_of_the_small_pot)",
+      "move_to(lid, small_pot)",
+      "place(lid, small_pot)",
+      "move_to(none, large_pot)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, table)",
+      "place(lid, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, red_spoon_handle)": [
+        "grasp(red_spoon_handle)"
+      ],
+      "grasp(red_spoon_handle)": [
+        "pick_up(red_spoon_handle)"
+      ],
+      "pick_up(red_spoon_handle)": [
+        "scoop(spoon, chili_pepper, bowl)"
+      ],
+      "scoop(spoon, chili_pepper, bowl)": [
+        "move_to(spoon, small_pot)"
+      ],
+      "move_to(spoon, small_pot)": [
+        "pour(spoon, chili pepper, small_pot)"
+      ],
+      "pour(spoon, chili pepper, small_pot)": [],
+      "move_to(none, lid_of_the_small_pot)": [
+        "grasp(lid_of_the_small_pot)"
+      ],
+      "grasp(lid_of_the_small_pot)": [
+        "pick_up(lid_of_the_small_pot)"
+      ],
+      "pick_up(lid_of_the_small_pot)": [
+        "move_to(lid, small_pot)"
+      ],
+      "move_to(lid, small_pot)": [
+        "place(lid, small_pot)"
+      ],
+      "place(lid, small_pot)": [],
+      "move_to(none, large_pot)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, table)"
+      ],
+      "move_to(lid, table)": [
+        "place(lid, table)"
+      ],
+      "place(lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_9560.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12332",
+    "actions_list": [
+      "move_to(none,orange_container)",
+      "grasp(orange_container)",
+      "pick_up(orange_container)",
+      "move_to(orange_container, white_plate)",
+      "place(orange_container, white_plate)",
+      "move_to(none,blue_container)",
+      "grasp(blue_container)",
+      "pick_up(blue_container)",
+      "place(blue_container, white_plate)",
+      "move_to(none,green_container)",
+      "grasp(green_container)",
+      "pick_up(green_container)",
+      "place(green_container, white_plate)",
+      "move_to(none,yellow_container)",
+      "grasp(yellow_container)",
+      "pick_up(yellow_container)",
+      "place(yellow_container, white_plate)",
+      "move_to(none,orange_sachet)",
+      "grasp(orange_sachet)",
+      "pick_up(orange_sachet)",
+      "place(orange_sachet, brown_box)",
+      "move_to(none,second_orange_sachet)",
+      "grasp(second_orange_sachet)",
+      "pick_up(second_orange_sachet)",
+      "place(second_orange_sachet, brown_box)",
+      "move_to(none,first_box)",
+      "grasp(first_box)",
+      "pick_up(first_box)",
+      "place(first_box, another_box)",
+      "move_to(none,second_box)",
+      "grasp(second_box)",
+      "pick_up(second_box)",
+      "place(second_box, another_box)",
+      "move_to(none,cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup,near_box)",
+      "place(cup,table)"
+    ],
+    "gt_dag": {
+      "move_to(none,orange_container)": [
+        "grasp(orange_container)"
+      ],
+      "grasp(orange_container)": [
+        "pick_up(orange_container)"
+      ],
+      "pick_up(orange_container)": [
+        "move_to(orange_container, white_plate)"
+      ],
+      "move_to(orange_container, white_plate)": [
+        "place(orange_container, white_plate)"
+      ],
+      "place(orange_container, white_plate)": [],
+      "move_to(none,blue_container)": [
+        "grasp(blue_container)"
+      ],
+      "grasp(blue_container)": [
+        "pick_up(blue_container)"
+      ],
+      "pick_up(blue_container)": [
+        "place(blue_container, white_plate)"
+      ],
+      "place(blue_container, white_plate)": [],
+      "move_to(none,green_container)": [
+        "grasp(green_container)"
+      ],
+      "grasp(green_container)": [
+        "pick_up(green_container)"
+      ],
+      "pick_up(green_container)": [
+        "place(green_container, white_plate)"
+      ],
+      "place(green_container, white_plate)": [],
+      "move_to(none,yellow_container)": [
+        "grasp(yellow_container)"
+      ],
+      "grasp(yellow_container)": [
+        "pick_up(yellow_container)"
+      ],
+      "pick_up(yellow_container)": [
+        "place(yellow_container, white_plate)"
+      ],
+      "place(yellow_container, white_plate)": [],
+      "move_to(none,orange_sachet)": [
+        "grasp(orange_sachet)"
+      ],
+      "grasp(orange_sachet)": [
+        "pick_up(orange_sachet)"
+      ],
+      "pick_up(orange_sachet)": [
+        "place(orange_sachet, brown_box)"
+      ],
+      "place(orange_sachet, brown_box)": [],
+      "move_to(none,second_orange_sachet)": [
+        "grasp(second_orange_sachet)"
+      ],
+      "grasp(second_orange_sachet)": [
+        "pick_up(second_orange_sachet)"
+      ],
+      "pick_up(second_orange_sachet)": [
+        "place(second_orange_sachet, brown_box)"
+      ],
+      "place(second_orange_sachet, brown_box)": [],
+      "move_to(none,first_box)": [
+        "grasp(first_box)"
+      ],
+      "grasp(first_box)": [
+        "pick_up(first_box)"
+      ],
+      "pick_up(first_box)": [
+        "place(first_box, another_box)"
+      ],
+      "place(first_box, another_box)": [],
+      "move_to(none,second_box)": [
+        "grasp(second_box)"
+      ],
+      "grasp(second_box)": [
+        "pick_up(second_box)"
+      ],
+      "pick_up(second_box)": [
+        "place(second_box, another_box)"
+      ],
+      "place(second_box, another_box)": [],
+      "move_to(none,cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup,near_box)"
+      ],
+      "move_to(cup,near_box)": [
+        "place(cup,table)"
+      ],
+      "place(cup,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_12332.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12362",
+    "actions_list": [
+      "move_to(none,bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, plate)",
+      "place(bottle, plate)",
+      "move_to(none,second_bottle)",
+      "grasp(second_bottle)",
+      "pick_up(second_bottle)",
+      "move_to(second_bottle, plate)",
+      "place(second_bottle, plate)",
+      "move_to(third_bottle)",
+      "grasp(third_bottle)",
+      "pick_up(third_bottle)",
+      "move_to(third_bottle, plate)",
+      "place(third_bottle, plate)",
+      "move_to(none,left_plastic_cups)",
+      "grasp(left_plastic_cups)",
+      "pick_up(left_plastic_cups)",
+      "move_to(left_plastic_cups,right_plastic_cups)",
+      "place(left_plastic_cups,right_plastic_cups)",
+      "move_to(none,orange_bottle)",
+      "grasp(orange_bottle)",
+      "pick_up(orange_bottle)",
+      "move_to(orange_bottle, plate)",
+      "place(orange_bottle, plate)",
+      "move_to(none,green_bottle)",
+      "grasp(green_bottle)",
+      "pick_up(green_bottle)",
+      "move_to(green_bottle, plate)",
+      "place(green_bottle, plate)",
+      "move_to(none,red_cup)",
+      "grasp(red_cup)",
+      "pick_up(red_cup)",
+      "move_to(red_cup,plate)",
+      "place(red_cup, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none,bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, plate)"
+      ],
+      "move_to(bottle, plate)": [
+        "place(bottle, plate)"
+      ],
+      "place(bottle, plate)": [],
+      "move_to(none,second_bottle)": [
+        "grasp(second_bottle)"
+      ],
+      "grasp(second_bottle)": [
+        "pick_up(second_bottle)"
+      ],
+      "pick_up(second_bottle)": [
+        "move_to(second_bottle, plate)"
+      ],
+      "move_to(second_bottle, plate)": [
+        "place(second_bottle, plate)"
+      ],
+      "place(second_bottle, plate)": [],
+      "move_to(third_bottle)": [
+        "grasp(third_bottle)"
+      ],
+      "grasp(third_bottle)": [
+        "pick_up(third_bottle)"
+      ],
+      "pick_up(third_bottle)": [
+        "move_to(third_bottle, plate)"
+      ],
+      "move_to(third_bottle, plate)": [
+        "place(third_bottle, plate)"
+      ],
+      "place(third_bottle, plate)": [],
+      "move_to(none,left_plastic_cups)": [
+        "grasp(left_plastic_cups)"
+      ],
+      "grasp(left_plastic_cups)": [
+        "pick_up(left_plastic_cups)"
+      ],
+      "pick_up(left_plastic_cups)": [
+        "move_to(left_plastic_cups,right_plastic_cups)"
+      ],
+      "move_to(left_plastic_cups,right_plastic_cups)": [
+        "place(left_plastic_cups,right_plastic_cups)"
+      ],
+      "place(left_plastic_cups,right_plastic_cups)": [],
+      "move_to(none,orange_bottle)": [
+        "grasp(orange_bottle)"
+      ],
+      "grasp(orange_bottle)": [
+        "pick_up(orange_bottle)"
+      ],
+      "pick_up(orange_bottle)": [
+        "move_to(orange_bottle, plate)"
+      ],
+      "move_to(orange_bottle, plate)": [
+        "place(orange_bottle, plate)"
+      ],
+      "place(orange_bottle, plate)": [],
+      "move_to(none,green_bottle)": [
+        "grasp(green_bottle)"
+      ],
+      "grasp(green_bottle)": [
+        "pick_up(green_bottle)"
+      ],
+      "pick_up(green_bottle)": [
+        "move_to(green_bottle, plate)"
+      ],
+      "move_to(green_bottle, plate)": [
+        "place(green_bottle, plate)"
+      ],
+      "place(green_bottle, plate)": [],
+      "move_to(none,red_cup)": [
+        "grasp(red_cup)"
+      ],
+      "grasp(red_cup)": [
+        "pick_up(red_cup)"
+      ],
+      "pick_up(red_cup)": [
+        "move_to(red_cup,plate)"
+      ],
+      "move_to(red_cup,plate)": [
+        "place(red_cup, plate)"
+      ],
+      "place(red_cup, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_12362.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12580",
+    "actions_list": [
+      "move_to(none,green_towel)",
+      "grasp(green_towel)",
+      "pick_up(green_towel)",
+      "move_to(green_towel, basket)",
+      "place(green_towel, basket)",
+      "move_to(none, white_towel)",
+      "grasp(white_towel)",
+      "pick_up(white_towel)",
+      "move_to(white_towel, basket)",
+      "place(white_towel, basket)",
+      "move_to(none, yellow_towel)",
+      "grasp(yellow_towel)",
+      "pick_up(yellow_towel)",
+      "move_to(yellow_towel, basket)",
+      "place(yellow_towel,basket)",
+      "move_to(none, pen)",
+      "grasp(penl)",
+      "pick_up(pen)",
+      "move_to(pen,mugs)",
+      "place(pen,mugs)"
+    ],
+    "gt_dag": {
+      "move_to(none,green_towel)": [
+        "grasp(green_towel)"
+      ],
+      "grasp(green_towel)": [
+        "pick_up(green_towel)"
+      ],
+      "pick_up(green_towel)": [
+        "move_to(green_towel, basket)"
+      ],
+      "move_to(green_towel, basket)": [
+        "place(green_towel, basket)"
+      ],
+      "place(green_towel, basket)": [],
+      "move_to(none, white_towel)": [
+        "grasp(white_towel)"
+      ],
+      "grasp(white_towel)": [
+        "pick_up(white_towel)"
+      ],
+      "pick_up(white_towel)": [
+        "move_to(white_towel, basket)"
+      ],
+      "move_to(white_towel, basket)": [
+        "place(white_towel, basket)"
+      ],
+      "place(white_towel, basket)": [],
+      "move_to(none, yellow_towel)": [
+        "grasp(yellow_towel)"
+      ],
+      "grasp(yellow_towel)": [
+        "pick_up(yellow_towel)"
+      ],
+      "pick_up(yellow_towel)": [
+        "move_to(yellow_towel, basket)"
+      ],
+      "move_to(yellow_towel, basket)": [
+        "place(yellow_towel,basket)"
+      ],
+      "place(yellow_towel,basket)": [],
+      "move_to(none, pen)": [
+        "grasp(penl)"
+      ],
+      "grasp(penl)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen,mugs)"
+      ],
+      "move_to(pen,mugs)": [
+        "place(pen,mugs)"
+      ],
+      "place(pen,mugs)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_12580.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_15582",
+    "actions_list": [
+      "move_to(none,pink_cloth)",
+      "grasp(pink_cloth)",
+      "pick_up(pink_cloth)",
+      "move_to(pink_cloth, top_right_table)",
+      "place(pink_cloth,  top_right_table)",
+      "move_to(none,first_white_cloth)",
+      "grasp(first_white_cloth)",
+      "pick_up(first_white_cloth)",
+      "move_to(first_white_cloth, top_pink_cloth)",
+      "place(first_white_cloth, top_pink_cloth)",
+      "move_to(none,second_white_cloth)",
+      "grasp(second_white_cloth)",
+      "pick_up(second_white_cloth)",
+      "move_to(second_white_cloth,top_white_cloth)",
+      "place(second_white_cloth, top_white_cloth)",
+      "move_to(none,orange_cloth)",
+      "grasp(orange_cloth)",
+      "pick_up(orange_cloth)",
+      "move_to(orange_cloth,top_white_cloth)",
+      "place(orange_cloth, top_white_cloth)",
+      "move_to(none,green_cloth)",
+      "grasp(green_cloth)",
+      "pick_up(green_cloth)",
+      "move_to(green_cloth,top_orange_cloth)",
+      "place(green_cloth, top_orange_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none,pink_cloth)": [
+        "grasp(pink_cloth)"
+      ],
+      "grasp(pink_cloth)": [
+        "pick_up(pink_cloth)"
+      ],
+      "pick_up(pink_cloth)": [
+        "move_to(pink_cloth, top_right_table)"
+      ],
+      "move_to(pink_cloth, top_right_table)": [
+        "place(pink_cloth,  top_right_table)"
+      ],
+      "place(pink_cloth,  top_right_table)": [],
+      "move_to(none,first_white_cloth)": [
+        "grasp(first_white_cloth)"
+      ],
+      "grasp(first_white_cloth)": [
+        "pick_up(first_white_cloth)"
+      ],
+      "pick_up(first_white_cloth)": [
+        "move_to(first_white_cloth, top_pink_cloth)"
+      ],
+      "move_to(first_white_cloth, top_pink_cloth)": [
+        "place(first_white_cloth, top_pink_cloth)"
+      ],
+      "place(first_white_cloth, top_pink_cloth)": [],
+      "move_to(none,second_white_cloth)": [
+        "grasp(second_white_cloth)"
+      ],
+      "grasp(second_white_cloth)": [
+        "pick_up(second_white_cloth)"
+      ],
+      "pick_up(second_white_cloth)": [
+        "move_to(second_white_cloth,top_white_cloth)"
+      ],
+      "move_to(second_white_cloth,top_white_cloth)": [
+        "place(second_white_cloth, top_white_cloth)"
+      ],
+      "place(second_white_cloth, top_white_cloth)": [],
+      "move_to(none,orange_cloth)": [
+        "grasp(orange_cloth)"
+      ],
+      "grasp(orange_cloth)": [
+        "pick_up(orange_cloth)"
+      ],
+      "pick_up(orange_cloth)": [
+        "move_to(orange_cloth,top_white_cloth)"
+      ],
+      "move_to(orange_cloth,top_white_cloth)": [
+        "place(orange_cloth, top_white_cloth)"
+      ],
+      "place(orange_cloth, top_white_cloth)": [],
+      "move_to(none,green_cloth)": [
+        "grasp(green_cloth)"
+      ],
+      "grasp(green_cloth)": [
+        "pick_up(green_cloth)"
+      ],
+      "pick_up(green_cloth)": [
+        "move_to(green_cloth,top_orange_cloth)"
+      ],
+      "move_to(green_cloth,top_orange_cloth)": [
+        "place(green_cloth, top_orange_cloth)"
+      ],
+      "place(green_cloth, top_orange_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_15582.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_17987",
+    "actions_list": [
+      "move_to(none,big_plastic_wrap)",
+      "grasp(big_plastic_wrap)",
+      "pick_up(big_plastic_wrap)",
+      "move_to(big_plastic_wrap, box)",
+      "place(big_plastic_wrap, box)",
+      "move_to(none,first_small_plastic_wrap)",
+      "grasp(first_small_plastic_wrap)",
+      "pick_up(first_small_plastic_wrap)",
+      "move_to(first_small_plastic_wrap,box)",
+      "place(first_small_plastic_wrap,box)",
+      "move_to(none,second_small_plastic_wrap)",
+      "grasp(second_small_plastic_wrap)",
+      "pick_up(second_small_plastic_wrap)",
+      "move_to(second_small_plastic_wrap,box)",
+      "place(second_small_plastic_wrap,box)",
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, box)",
+      "place(bottle, box)"
+    ],
+    "gt_dag": {
+      "move_to(none,big_plastic_wrap)": [
+        "grasp(big_plastic_wrap)"
+      ],
+      "grasp(big_plastic_wrap)": [
+        "pick_up(big_plastic_wrap)"
+      ],
+      "pick_up(big_plastic_wrap)": [
+        "move_to(big_plastic_wrap, box)"
+      ],
+      "move_to(big_plastic_wrap, box)": [
+        "place(big_plastic_wrap, box)"
+      ],
+      "place(big_plastic_wrap, box)": [],
+      "move_to(none,first_small_plastic_wrap)": [
+        "grasp(first_small_plastic_wrap)"
+      ],
+      "grasp(first_small_plastic_wrap)": [
+        "pick_up(first_small_plastic_wrap)"
+      ],
+      "pick_up(first_small_plastic_wrap)": [
+        "move_to(first_small_plastic_wrap,box)"
+      ],
+      "move_to(first_small_plastic_wrap,box)": [
+        "place(first_small_plastic_wrap,box)"
+      ],
+      "place(first_small_plastic_wrap,box)": [],
+      "move_to(none,second_small_plastic_wrap)": [
+        "grasp(second_small_plastic_wrap)"
+      ],
+      "grasp(second_small_plastic_wrap)": [
+        "pick_up(second_small_plastic_wrap)"
+      ],
+      "pick_up(second_small_plastic_wrap)": [
+        "move_to(second_small_plastic_wrap,box)"
+      ],
+      "move_to(second_small_plastic_wrap,box)": [
+        "place(second_small_plastic_wrap,box)"
+      ],
+      "place(second_small_plastic_wrap,box)": [],
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, box)"
+      ],
+      "move_to(bottle, box)": [
+        "place(bottle, box)"
+      ],
+      "place(bottle, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_17987.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_18136",
+    "actions_list": [
+      "move_to(none, left_shoes)",
+      "grasp(shoes)",
+      "pick_up(shoes)",
+      "move_to(left_shoes,near_right_shoes)",
+      "place(left_shoes,near_right_shoes)",
+      "move_to(none, shoes)",
+      "grasp(shoes)",
+      "pick_up(shoes)",
+      "move_to(shoes, second_floor)",
+      "place(shoes, second_floor)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_shoes)": [
+        "grasp(shoes)"
+      ],
+      "move_to(left_shoes,near_right_shoes)": [
+        "place(left_shoes,near_right_shoes)"
+      ],
+      "place(left_shoes,near_right_shoes)": [],
+      "move_to(none, shoes)": [
+        "grasp(shoes)<1>"
+      ],
+      "grasp(shoes)": [
+        "pick_up(shoes)"
+      ],
+      "pick_up(shoes)": [
+        "move_to(left_shoes,near_right_shoes)"
+      ],
+      "move_to(shoes, second_floor)": [
+        "place(shoes, second_floor)"
+      ],
+      "place(shoes, second_floor)": [],
+      "grasp(shoes)<1>": [
+        "pick_up(shoes)<1>"
+      ],
+      "pick_up(shoes)<1>": [
+        "move_to(shoes, second_floor)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_18136.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_21603",
+    "actions_list": [
+      "move_to(none, first_roll_of_string)",
+      "grasp(first_roll_of_string)",
+      "pick_up(first_roll_of_string)",
+      "move_to(first_roll_of_string, box)",
+      "place(first_roll_of_string, box)",
+      "move_to(none, second_roll_of_string)",
+      "grasp(second_roll_of_string)",
+      "pick_up(second_roll_of_string)",
+      "move_to( second_roll_of_string,box)",
+      "place( second_roll_of_string,box)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_roll_of_string)": [
+        "grasp(first_roll_of_string)"
+      ],
+      "grasp(first_roll_of_string)": [
+        "pick_up(first_roll_of_string)"
+      ],
+      "pick_up(first_roll_of_string)": [
+        "move_to(first_roll_of_string, box)"
+      ],
+      "move_to(first_roll_of_string, box)": [
+        "place(first_roll_of_string, box)"
+      ],
+      "place(first_roll_of_string, box)": [],
+      "move_to(none, second_roll_of_string)": [
+        "grasp(second_roll_of_string)"
+      ],
+      "grasp(second_roll_of_string)": [
+        "pick_up(second_roll_of_string)"
+      ],
+      "pick_up(second_roll_of_string)": [
+        "move_to( second_roll_of_string,box)"
+      ],
+      "move_to( second_roll_of_string,box)": [
+        "place( second_roll_of_string,box)"
+      ],
+      "place( second_roll_of_string,box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_21603.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_21645",
+    "actions_list": [
+      "move_to(none, right_coil)",
+      "grasp(right_coil)",
+      "pick_up(right_coil)",
+      "move_to(right_coil, open_drawer)",
+      "place(right_coil, drawer)",
+      "move_to(none, middle_coil)",
+      "grasp(middle_coil)",
+      "pick_up(middle_coil)",
+      "move_to(middle_coil, open_drawer)",
+      "place(middle_coil, drawer)",
+      "left_to(none, middle_coil)",
+      "grasp(left_coil)",
+      "pick_up(left_coil)",
+      "move_to(left_coil, open_drawer)",
+      "place(left_coil, drawer)",
+      "move_to(none,drawer_handle)",
+      "grasp(drawer_handle)",
+      "push(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, right_coil)": [
+        "grasp(right_coil)"
+      ],
+      "grasp(right_coil)": [
+        "pick_up(right_coil)"
+      ],
+      "pick_up(right_coil)": [
+        "move_to(right_coil, open_drawer)"
+      ],
+      "move_to(right_coil, open_drawer)": [
+        "place(right_coil, drawer)"
+      ],
+      "place(right_coil, drawer)": [],
+      "move_to(none, middle_coil)": [
+        "grasp(middle_coil)"
+      ],
+      "grasp(middle_coil)": [
+        "pick_up(middle_coil)"
+      ],
+      "pick_up(middle_coil)": [
+        "move_to(middle_coil, open_drawer)"
+      ],
+      "move_to(middle_coil, open_drawer)": [
+        "place(middle_coil, drawer)"
+      ],
+      "place(middle_coil, drawer)": [],
+      "left_to(none, middle_coil)": [
+        "grasp(left_coil)"
+      ],
+      "grasp(left_coil)": [
+        "pick_up(left_coil)"
+      ],
+      "pick_up(left_coil)": [
+        "move_to(left_coil, open_drawer)"
+      ],
+      "move_to(left_coil, open_drawer)": [
+        "place(left_coil, drawer)"
+      ],
+      "place(left_coil, drawer)": [],
+      "move_to(none,drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_21645.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_22042",
+    "actions_list": [
+      "move_to(none, first_pot)",
+      "grasp(lid_of_the_first_pot)",
+      "pick_up(lid_of_the_first_pot)",
+      "move_to(lid_of_the_first_pot, table)",
+      "place(lid_of_the_first_pot, table)",
+      "move_to(none, second_pot)",
+      "grasp(lid_of_the_second_pot)",
+      "pick_up(lid_of_the_second_pot)",
+      "move_to(lid_of_the_second_pot, table)",
+      "place(lid_of_the_second_pot, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_pot)": [
+        "grasp(lid_of_the_first_pot)"
+      ],
+      "grasp(lid_of_the_first_pot)": [
+        "pick_up(lid_of_the_first_pot)"
+      ],
+      "pick_up(lid_of_the_first_pot)": [
+        "move_to(lid_of_the_first_pot, table)"
+      ],
+      "move_to(lid_of_the_first_pot, table)": [
+        "place(lid_of_the_first_pot, table)"
+      ],
+      "place(lid_of_the_first_pot, table)": [],
+      "move_to(none, second_pot)": [
+        "grasp(lid_of_the_second_pot)"
+      ],
+      "grasp(lid_of_the_second_pot)": [
+        "pick_up(lid_of_the_second_pot)"
+      ],
+      "pick_up(lid_of_the_second_pot)": [
+        "move_to(lid_of_the_second_pot, table)"
+      ],
+      "move_to(lid_of_the_second_pot, table)": [
+        "place(lid_of_the_second_pot, table)"
+      ],
+      "place(lid_of_the_second_pot, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_22042.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_22357",
+    "actions_list": [
+      "move_to(none, bowl_of_garlic_cloves)",
+      "grasp(garlic_clove)",
+      "pick_up(garlic_clove)",
+      "move_to(garlic_clove, table)",
+      "place(garlic_clove, table)",
+      "move_to(none,second_garlic_clove)",
+      "grasp(second_garlic_clove)",
+      "pick_up(second_garlic_clove)",
+      "move_to(second_garlic_clove, table)",
+      "place(second_garlic_clove, table)",
+      "move_to(none,third_garlic_clove)",
+      "grasp(third_garlic_clove)",
+      "pick_up(third_garlic_clove)",
+      "move_to(third_garlic_clove, table)",
+      "place(third_garlic_clove, table)",
+      "mmove_to(none,fourth_garlic_clove)",
+      "grasp(fourth_garlic_clove)",
+      "pick_up(fourth_garlic_clove)",
+      "move_to(fourth_garlic_clove, table)",
+      "place(fourth_garlic_clove, table)",
+      "move_to(none,last_garlic_clove)",
+      "grasp(last_garlic_clove)",
+      "pick_up(last_garlic_clove)",
+      "move_to(last_garlic_clove,table)",
+      "place(last_garlic_clove,table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl_of_garlic_cloves)": [
+        "grasp(garlic_clove)"
+      ],
+      "grasp(garlic_clove)": [
+        "pick_up(garlic_clove)"
+      ],
+      "pick_up(garlic_clove)": [
+        "move_to(garlic_clove, table)"
+      ],
+      "move_to(garlic_clove, table)": [
+        "place(garlic_clove, table)"
+      ],
+      "place(garlic_clove, table)": [],
+      "move_to(none,second_garlic_clove)": [
+        "grasp(second_garlic_clove)"
+      ],
+      "grasp(second_garlic_clove)": [
+        "pick_up(second_garlic_clove)"
+      ],
+      "pick_up(second_garlic_clove)": [
+        "move_to(second_garlic_clove, table)"
+      ],
+      "move_to(second_garlic_clove, table)": [
+        "place(second_garlic_clove, table)"
+      ],
+      "place(second_garlic_clove, table)": [],
+      "move_to(none,third_garlic_clove)": [
+        "grasp(third_garlic_clove)"
+      ],
+      "grasp(third_garlic_clove)": [
+        "pick_up(third_garlic_clove)"
+      ],
+      "pick_up(third_garlic_clove)": [
+        "move_to(third_garlic_clove, table)"
+      ],
+      "move_to(third_garlic_clove, table)": [
+        "place(third_garlic_clove, table)"
+      ],
+      "place(third_garlic_clove, table)": [],
+      "mmove_to(none,fourth_garlic_clove)": [
+        "grasp(fourth_garlic_clove)"
+      ],
+      "grasp(fourth_garlic_clove)": [
+        "pick_up(fourth_garlic_clove)"
+      ],
+      "pick_up(fourth_garlic_clove)": [
+        "move_to(fourth_garlic_clove, table)"
+      ],
+      "move_to(fourth_garlic_clove, table)": [
+        "place(fourth_garlic_clove, table)"
+      ],
+      "place(fourth_garlic_clove, table)": [],
+      "move_to(none,last_garlic_clove)": [
+        "grasp(last_garlic_clove)"
+      ],
+      "grasp(last_garlic_clove)": [
+        "pick_up(last_garlic_clove)"
+      ],
+      "pick_up(last_garlic_clove)": [
+        "move_to(last_garlic_clove,table)"
+      ],
+      "move_to(last_garlic_clove,table)": [
+        "place(last_garlic_clove,table)"
+      ],
+      "place(last_garlic_clove,table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_22357.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_30276",
+    "actions_list": [
+      "move_to(none,brown_bottle)",
+      "grasp(brown_bottle)",
+      "pick_up(brown_bottle)",
+      "move_to(brown_bottle, plate)",
+      "place(brown_bottle, plate)",
+      "move_to(none,orange_bottle)",
+      "grasp(orange_bottle)",
+      "pick_up(orange_bottle)",
+      "move_to(orange_bottle, plate)",
+      "place(orange_bottle,plate)",
+      "move_to(none,yellow_bottle)",
+      "grasp(yellow_bottle)",
+      "pick_up(yellow_bottle)",
+      "move_to(yellow_bottle,plate)",
+      "place(yellow_bottle, plate)",
+      "move_to(none,red_bottle)",
+      "grasp(red_bottle)",
+      "pick_up(red_bottle)",
+      "move_to(red_bottle, plate)",
+      "place(red_bottle, plate)",
+      "move_to(none,blue_bottle)",
+      "grasp(blue_bottle)",
+      "pick_up(blue_bottle)",
+      "move_to(blue_bottle, plate)",
+      "place(blue_bottle,plate)",
+      "move_to(none,pink_bottle)",
+      "grasp(pink_bottle)",
+      "pick_up(pink_bottle)",
+      "move_to(pink_bottle, plate)",
+      "place(pink_bottle,plate)",
+      "move_to(none,purple_bottle)",
+      "grasp(purple_bottle)",
+      "pick_up(purple_bottle)",
+      "move_to(purple_bottle, plate)",
+      "place(purple_bottle,plate)",
+      "move_to(none,green_bottle)",
+      "grasp(green_bottle)",
+      "pick_up(green_bottle)",
+      "move_to(green_bottle, plate)",
+      "place(green_bottle,plate)",
+      "move_to(none,cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, plate)",
+      "place(cloth,plate)"
+    ],
+    "gt_dag": {
+      "move_to(none,brown_bottle)": [
+        "grasp(brown_bottle)"
+      ],
+      "grasp(brown_bottle)": [
+        "pick_up(brown_bottle)"
+      ],
+      "pick_up(brown_bottle)": [
+        "move_to(brown_bottle, plate)"
+      ],
+      "move_to(brown_bottle, plate)": [
+        "place(brown_bottle, plate)"
+      ],
+      "place(brown_bottle, plate)": [],
+      "move_to(none,orange_bottle)": [
+        "grasp(orange_bottle)"
+      ],
+      "grasp(orange_bottle)": [
+        "pick_up(orange_bottle)"
+      ],
+      "pick_up(orange_bottle)": [
+        "move_to(orange_bottle, plate)"
+      ],
+      "move_to(orange_bottle, plate)": [
+        "place(orange_bottle,plate)"
+      ],
+      "place(orange_bottle,plate)": [],
+      "move_to(none,yellow_bottle)": [
+        "grasp(yellow_bottle)"
+      ],
+      "grasp(yellow_bottle)": [
+        "pick_up(yellow_bottle)"
+      ],
+      "pick_up(yellow_bottle)": [
+        "move_to(yellow_bottle,plate)"
+      ],
+      "move_to(yellow_bottle,plate)": [
+        "place(yellow_bottle, plate)"
+      ],
+      "place(yellow_bottle, plate)": [],
+      "move_to(none,red_bottle)": [
+        "grasp(red_bottle)"
+      ],
+      "grasp(red_bottle)": [
+        "pick_up(red_bottle)"
+      ],
+      "pick_up(red_bottle)": [
+        "move_to(red_bottle, plate)"
+      ],
+      "move_to(red_bottle, plate)": [
+        "place(red_bottle, plate)"
+      ],
+      "place(red_bottle, plate)": [],
+      "move_to(none,blue_bottle)": [
+        "grasp(blue_bottle)"
+      ],
+      "grasp(blue_bottle)": [
+        "pick_up(blue_bottle)"
+      ],
+      "pick_up(blue_bottle)": [
+        "move_to(blue_bottle, plate)"
+      ],
+      "move_to(blue_bottle, plate)": [
+        "place(blue_bottle,plate)"
+      ],
+      "place(blue_bottle,plate)": [],
+      "move_to(none,pink_bottle)": [
+        "grasp(pink_bottle)"
+      ],
+      "grasp(pink_bottle)": [
+        "pick_up(pink_bottle)"
+      ],
+      "pick_up(pink_bottle)": [
+        "move_to(pink_bottle, plate)"
+      ],
+      "move_to(pink_bottle, plate)": [
+        "place(pink_bottle,plate)"
+      ],
+      "place(pink_bottle,plate)": [],
+      "move_to(none,purple_bottle)": [
+        "grasp(purple_bottle)"
+      ],
+      "grasp(purple_bottle)": [
+        "pick_up(purple_bottle)"
+      ],
+      "pick_up(purple_bottle)": [
+        "move_to(purple_bottle, plate)"
+      ],
+      "move_to(purple_bottle, plate)": [
+        "place(purple_bottle,plate)"
+      ],
+      "place(purple_bottle,plate)": [],
+      "move_to(none,green_bottle)": [
+        "grasp(green_bottle)"
+      ],
+      "grasp(green_bottle)": [
+        "pick_up(green_bottle)"
+      ],
+      "pick_up(green_bottle)": [
+        "move_to(green_bottle, plate)"
+      ],
+      "move_to(green_bottle, plate)": [
+        "place(green_bottle,plate)"
+      ],
+      "place(green_bottle,plate)": [],
+      "move_to(none,cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, plate)"
+      ],
+      "move_to(cloth, plate)": [
+        "place(cloth,plate)"
+      ],
+      "place(cloth,plate)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_30276.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_32435",
+    "actions_list": [
+      "move_to(none,yellow_block)",
+      "grasp(yellow_block)",
+      "pick_up(yellow_block)",
+      "move_to(yellow_block, table)",
+      "place(yellow_block, table)",
+      "move_to(none,orange_block)",
+      "grasp(orange_block)",
+      "pick_up(orange_block)",
+      "move_to(orange_block, table)",
+      "place(orange_block, table)",
+      "move_to(none,second_orange_block)",
+      "grasp(second_orange_block)",
+      "pick_up(second_orange_block)",
+      "move_to(second_orange_block, table)",
+      "place(second_orange_block, table)",
+      "move_to(none,green_block)",
+      "grasp(green_block)",
+      "pick_up(green_block)",
+      "move_to(green_block, table)",
+      "place(green_block, table)",
+      "move_to(none,third_orange_block)",
+      "grasp(third_orange_block)",
+      "pick_up(third_orange_block)",
+      "move_to(third_orange_block, table)",
+      "place(third_orange_block, table)",
+      "move_to(none,second_green_block)",
+      "grasp(second_green_block)",
+      "pick_up(second_green_block)",
+      "move_to(second_green_block, table)",
+      "place(second_green_block, table)",
+      "move_to(none,yellow_and_orange_block)",
+      "grasp(yellow_and_orange_block)",
+      "pick_up(yellow_and_orange_block)",
+      "move_to(yellow_and_orange_block, table)",
+      "place(yellow_and_orange_block, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,yellow_block)": [
+        "grasp(yellow_block)"
+      ],
+      "grasp(yellow_block)": [
+        "pick_up(yellow_block)"
+      ],
+      "pick_up(yellow_block)": [
+        "move_to(yellow_block, table)"
+      ],
+      "move_to(yellow_block, table)": [
+        "place(yellow_block, table)"
+      ],
+      "place(yellow_block, table)": [],
+      "move_to(none,orange_block)": [
+        "grasp(orange_block)"
+      ],
+      "grasp(orange_block)": [
+        "pick_up(orange_block)"
+      ],
+      "pick_up(orange_block)": [
+        "move_to(orange_block, table)"
+      ],
+      "move_to(orange_block, table)": [
+        "place(orange_block, table)"
+      ],
+      "place(orange_block, table)": [],
+      "move_to(none,second_orange_block)": [
+        "grasp(second_orange_block)"
+      ],
+      "grasp(second_orange_block)": [
+        "pick_up(second_orange_block)"
+      ],
+      "pick_up(second_orange_block)": [
+        "move_to(second_orange_block, table)"
+      ],
+      "move_to(second_orange_block, table)": [
+        "place(second_orange_block, table)"
+      ],
+      "place(second_orange_block, table)": [],
+      "move_to(none,green_block)": [
+        "grasp(green_block)"
+      ],
+      "grasp(green_block)": [
+        "pick_up(green_block)"
+      ],
+      "pick_up(green_block)": [
+        "move_to(green_block, table)"
+      ],
+      "move_to(green_block, table)": [
+        "place(green_block, table)"
+      ],
+      "place(green_block, table)": [],
+      "move_to(none,third_orange_block)": [
+        "grasp(third_orange_block)"
+      ],
+      "grasp(third_orange_block)": [
+        "pick_up(third_orange_block)"
+      ],
+      "pick_up(third_orange_block)": [
+        "move_to(third_orange_block, table)"
+      ],
+      "move_to(third_orange_block, table)": [
+        "place(third_orange_block, table)"
+      ],
+      "place(third_orange_block, table)": [],
+      "move_to(none,second_green_block)": [
+        "grasp(second_green_block)"
+      ],
+      "grasp(second_green_block)": [
+        "pick_up(second_green_block)"
+      ],
+      "pick_up(second_green_block)": [
+        "move_to(second_green_block, table)"
+      ],
+      "move_to(second_green_block, table)": [
+        "place(second_green_block, table)"
+      ],
+      "place(second_green_block, table)": [],
+      "move_to(none,yellow_and_orange_block)": [
+        "grasp(yellow_and_orange_block)"
+      ],
+      "grasp(yellow_and_orange_block)": [
+        "pick_up(yellow_and_orange_block)"
+      ],
+      "pick_up(yellow_and_orange_block)": [
+        "move_to(yellow_and_orange_block, table)"
+      ],
+      "move_to(yellow_and_orange_block, table)": [
+        "place(yellow_and_orange_block, table)"
+      ],
+      "place(yellow_and_orange_block, table)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_32435.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_37986",
+    "actions_list": [
+      "move_to(none,yellow_towel)",
+      "grasp(yellow_towel)",
+      "pick_up(yellow_towel)",
+      "move_to(yellow_towel, chair)",
+      "place(yellow_towel, chair)",
+      "move_to(none, gray_towel)",
+      "grasp(gray_towel, none)",
+      "pick_up(gray_towel, none)",
+      "move_to(gray_towel, chair)",
+      "place(gray_towel, chair)",
+      "move_to(none, door)",
+      "grasp(door_handle)",
+      "pull(door)"
+    ],
+    "gt_dag": {
+      "move_to(none,yellow_towel)": [
+        "grasp(yellow_towel)"
+      ],
+      "grasp(yellow_towel)": [
+        "pick_up(yellow_towel)"
+      ],
+      "pick_up(yellow_towel)": [
+        "move_to(yellow_towel, chair)"
+      ],
+      "move_to(yellow_towel, chair)": [
+        "place(yellow_towel, chair)"
+      ],
+      "place(yellow_towel, chair)": [],
+      "move_to(none, gray_towel)": [
+        "grasp(gray_towel, none)"
+      ],
+      "grasp(gray_towel, none)": [
+        "pick_up(gray_towel, none)"
+      ],
+      "pick_up(gray_towel, none)": [
+        "move_to(gray_towel, chair)"
+      ],
+      "move_to(gray_towel, chair)": [
+        "place(gray_towel, chair)"
+      ],
+      "place(gray_towel, chair)": [],
+      "move_to(none, door)": [
+        "grasp(door_handle)"
+      ],
+      "grasp(door_handle)": [
+        "pull(door)"
+      ],
+      "pull(door)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_37986.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_39024",
+    "actions_list": [
+      "move_to(none,pink_bottle)",
+      "grasp(pink_bottle)",
+      "pick_up(pink_bottle)",
+      "move_to(pink_bottle, left)",
+      "place(pink_bottle, left)",
+      "move_to(none,yellow_bottle)",
+      "grasp(yellow_bottle)",
+      "pick_up(yellow_bottle)",
+      "move_to(yellow_bottle, left)",
+      "place(yellow_bottle, left)",
+      "move_to(none, lamp)",
+      "grasp(lamp)",
+      "press(switch)"
+    ],
+    "gt_dag": {
+      "move_to(none,pink_bottle)": [
+        "grasp(pink_bottle)"
+      ],
+      "grasp(pink_bottle)": [
+        "pick_up(pink_bottle)"
+      ],
+      "pick_up(pink_bottle)": [
+        "move_to(pink_bottle, left)"
+      ],
+      "move_to(pink_bottle, left)": [
+        "place(pink_bottle, left)"
+      ],
+      "place(pink_bottle, left)": [],
+      "move_to(none,yellow_bottle)": [
+        "grasp(yellow_bottle)"
+      ],
+      "grasp(yellow_bottle)": [
+        "pick_up(yellow_bottle)"
+      ],
+      "pick_up(yellow_bottle)": [
+        "move_to(yellow_bottle, left)"
+      ],
+      "move_to(yellow_bottle, left)": [
+        "place(yellow_bottle, left)"
+      ],
+      "place(yellow_bottle, left)": [],
+      "move_to(none, lamp)": [
+        "grasp(lamp)"
+      ],
+      "grasp(lamp)": [
+        "press(switch)"
+      ],
+      "press(switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_39024.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_40533",
+    "actions_list": [
+      "move_to(yellow_lego_brick)",
+      "grasp(yellow_lego_brick)",
+      "pick_up(yellow_lego_brick)",
+      "move_to(yellow_lego_brick, bowl)",
+      "place(yellow_lego_brick, bowl)",
+      "move_to(none,blue_lego_brick)",
+      "grasp(blue_lego_brick)",
+      "pick_up(blue_lego_brick)",
+      "move_to(blue_lego_brick, bowl)",
+      "place(blue_lego_brick, bowl)",
+      "move_to(nonr,orange_lego_brick)",
+      "grasp(orange_lego_brick)",
+      "pick_up(orange_lego_brick)",
+      "move_to(orange_lego_brick, bowl)",
+      "place(orange_lego_brick, bowl)",
+      "move_to(none,green_lego_brick)",
+      "grasp(green_lego_brick)",
+      "pick_up(green_lego_brick)",
+      "move_to(green_lego_brick, bowl)",
+      "place(green_lego_brick, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(yellow_lego_brick)": [
+        "grasp(yellow_lego_brick)"
+      ],
+      "grasp(yellow_lego_brick)": [
+        "pick_up(yellow_lego_brick)"
+      ],
+      "pick_up(yellow_lego_brick)": [
+        "move_to(yellow_lego_brick, bowl)"
+      ],
+      "move_to(yellow_lego_brick, bowl)": [
+        "place(yellow_lego_brick, bowl)"
+      ],
+      "place(yellow_lego_brick, bowl)": [],
+      "move_to(none,blue_lego_brick)": [
+        "grasp(blue_lego_brick)"
+      ],
+      "grasp(blue_lego_brick)": [
+        "pick_up(blue_lego_brick)"
+      ],
+      "pick_up(blue_lego_brick)": [
+        "move_to(blue_lego_brick, bowl)"
+      ],
+      "move_to(blue_lego_brick, bowl)": [
+        "place(blue_lego_brick, bowl)"
+      ],
+      "place(blue_lego_brick, bowl)": [],
+      "move_to(nonr,orange_lego_brick)": [
+        "grasp(orange_lego_brick)"
+      ],
+      "grasp(orange_lego_brick)": [
+        "pick_up(orange_lego_brick)"
+      ],
+      "pick_up(orange_lego_brick)": [
+        "move_to(orange_lego_brick, bowl)"
+      ],
+      "move_to(orange_lego_brick, bowl)": [
+        "place(orange_lego_brick, bowl)"
+      ],
+      "place(orange_lego_brick, bowl)": [],
+      "move_to(none,green_lego_brick)": [
+        "grasp(green_lego_brick)"
+      ],
+      "grasp(green_lego_brick)": [
+        "pick_up(green_lego_brick)"
+      ],
+      "pick_up(green_lego_brick)": [
+        "move_to(green_lego_brick, bowl)"
+      ],
+      "move_to(green_lego_brick, bowl)": [
+        "place(green_lego_brick, bowl)"
+      ],
+      "place(green_lego_brick, bowl)": []
+    }
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_41424",
+    "actions_list": [
+      "move_to(none,piece_of_plastic_wrap)",
+      "grasp(piece_of_plastic_wrap)",
+      "pick_up(piece_of_plastic_wrap)",
+      "move_to(plastic_wrap, box)",
+      "place(plastic_wrap, box)",
+      "move_to(none,another_piece_of_plastic_wrap)",
+      "grasp(another_piece_of_plastic_wrap)",
+      "pick_up(another_piece_of_plastic_wrap)",
+      "move_to(plastic_wrap, box)",
+      "place(plastic_wrap, box)",
+      "move_to(none, paper_ball)",
+      "grasp(paper_ball)",
+      "pick_up( paper_ball)",
+      "move_to( paper_ball,box)",
+      "place(paper_ball, box)",
+      "move_to(none, bottle)",
+      "grasp( bottle)",
+      "pick_up( bottle)",
+      "move_to( bottle,box)",
+      "place(bottle, box)"
+    ],
+    "gt_dag": {
+      "move_to(none,piece_of_plastic_wrap)": [
+        "grasp(piece_of_plastic_wrap)"
+      ],
+      "grasp(piece_of_plastic_wrap)": [
+        "pick_up(piece_of_plastic_wrap)"
+      ],
+      "pick_up(piece_of_plastic_wrap)": [
+        "move_to(plastic_wrap, box)"
+      ],
+      "move_to(none,another_piece_of_plastic_wrap)": [
+        "grasp(another_piece_of_plastic_wrap)"
+      ],
+      "grasp(another_piece_of_plastic_wrap)": [
+        "pick_up(another_piece_of_plastic_wrap)"
+      ],
+      "pick_up(another_piece_of_plastic_wrap)": [
+        "move_to(plastic_wrap, box)<1>"
+      ],
+      "move_to(plastic_wrap, box)": [
+        "place(plastic_wrap, box)"
+      ],
+      "place(plastic_wrap, box)": [],
+      "move_to(none, paper_ball)": [
+        "grasp(paper_ball)"
+      ],
+      "grasp(paper_ball)": [
+        "pick_up( paper_ball)"
+      ],
+      "pick_up( paper_ball)": [
+        "move_to( paper_ball,box)"
+      ],
+      "move_to( paper_ball,box)": [
+        "place(paper_ball, box)"
+      ],
+      "place(paper_ball, box)": [],
+      "move_to(none, bottle)": [
+        "grasp( bottle)"
+      ],
+      "grasp( bottle)": [
+        "pick_up( bottle)"
+      ],
+      "pick_up( bottle)": [
+        "move_to( bottle,box)"
+      ],
+      "move_to( bottle,box)": [
+        "place(bottle, box)"
+      ],
+      "place(bottle, box)": [],
+      "move_to(plastic_wrap, box)<1>": [
+        "place(plastic_wrap, box)<1>"
+      ],
+      "place(plastic_wrap, box)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_41424.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_42704",
+    "actions_list": [
+      "move_to(none, black_pot_containing_the_orange_object)",
+      "grasp(orange_object)",
+      "pick_up(orange_object)",
+      "move_to(orange_object, bowl)",
+      "place(orange_object, bowl)",
+      "move_to(none, pot_containing_the_orange_objects)",
+      "grasp(another_orange_object)",
+      "pick_up(another_orange_object)",
+      "move_to(another_orange_object, bowl)",
+      "place(another_orange_object, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, black_pot_containing_the_orange_object)": [
+        "grasp(orange_object)"
+      ],
+      "grasp(orange_object)": [
+        "pick_up(orange_object)"
+      ],
+      "pick_up(orange_object)": [
+        "move_to(orange_object, bowl)"
+      ],
+      "move_to(orange_object, bowl)": [
+        "place(orange_object, bowl)"
+      ],
+      "place(orange_object, bowl)": [],
+      "move_to(none, pot_containing_the_orange_objects)": [
+        "grasp(another_orange_object)"
+      ],
+      "grasp(another_orange_object)": [
+        "pick_up(another_orange_object)"
+      ],
+      "pick_up(another_orange_object)": [
+        "move_to(another_orange_object, bowl)"
+      ],
+      "move_to(another_orange_object, bowl)": [
+        "place(another_orange_object, bowl)"
+      ],
+      "place(another_orange_object, bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_42704.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_43174",
+    "actions_list": [
+      "move_to(none, first_orange_ring)",
+      "grasp(first_orange_ring)",
+      "pick_up(first_orange_ring)",
+      "move_to(first_orange_ring, stick)",
+      "place(first_orange_ring, stick)",
+      "move_to(none, second_orange_ring)",
+      "grasp(second_orange_ring)",
+      "pick_up(second_orange_ring)",
+      "move_to(second_orange_ring, stick)",
+      "place(second_orange_ring, stick)",
+      "move_to(none, third_orange_ring)",
+      "grasp(third_orange_ring)",
+      "pick_up(third_orange_ring)",
+      "move_to(third_orange_ring, stick)",
+      "place(third_orange_ring, stick)",
+      "move_to(none, fourth_orange_ring)",
+      "grasp(fourth_orange_ring)",
+      "pick_up(fourth_orange_ring)",
+      "move_to(fourth_orange_ring, stick)",
+      "place(fourth_orange_ring, stick)",
+      "move_to(none, fifth_orange_ring)",
+      "grasp(fifth_orange_ring)",
+      "pick_up(fifth_orange_ring)",
+      "move_to(fifth_orange_ring, stick)",
+      "place(fifth_orange_ring, stick)",
+      "move_to(none, first_red_ring)",
+      "grasp(first_red_ring)",
+      "pick_up(first_red_ring)",
+      "move_to(first_red_ring, second_stick)",
+      "place(first_red_ring,second_stick)",
+      "move_to(none, second_red_ring)",
+      "grasp(second_red_ring)",
+      "pick_up(second_red_ring)",
+      "move_to(second_red_ring, second_stick)",
+      "place(second_red_ring,second_stick)",
+      "move_to(none, third_red_ring)",
+      "grasp( third_red_ring)",
+      "pick_up( third_red_ring)",
+      "move_to( third_red_ring, second_stick)",
+      "place( third_red_ring,second_stick)",
+      "move_to(none, fouth_red_ring)",
+      "grasp( fouth_red_ring)",
+      "pick_up( fouth_red_ring)",
+      "move_to( fouth_red_ring, second_stick)",
+      "place( fouth_red_ring,second_stick)",
+      "move_to(none, yellow_ring)",
+      "grasp(yellow_ring)",
+      "pick_up(yellow_ring)",
+      "move_to(yellow_ring, stick)",
+      "place(yellow_ring, stick)",
+      "move_to(none, second_yellow_ring)",
+      "grasp(second_yellow_ring)",
+      "pick_up(second_yellow_ring)",
+      "move_to(second_yellow_ring, third_stick)",
+      "place(second_yellow_ring, third_stick)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_orange_ring)": [
+        "grasp(first_orange_ring)"
+      ],
+      "grasp(first_orange_ring)": [
+        "pick_up(first_orange_ring)"
+      ],
+      "pick_up(first_orange_ring)": [
+        "move_to(first_orange_ring, stick)"
+      ],
+      "move_to(first_orange_ring, stick)": [
+        "place(first_orange_ring, stick)"
+      ],
+      "place(first_orange_ring, stick)": [],
+      "move_to(none, second_orange_ring)": [
+        "grasp(second_orange_ring)"
+      ],
+      "grasp(second_orange_ring)": [
+        "pick_up(second_orange_ring)"
+      ],
+      "pick_up(second_orange_ring)": [
+        "move_to(second_orange_ring, stick)"
+      ],
+      "move_to(second_orange_ring, stick)": [
+        "place(second_orange_ring, stick)"
+      ],
+      "place(second_orange_ring, stick)": [],
+      "move_to(none, third_orange_ring)": [
+        "grasp(third_orange_ring)"
+      ],
+      "grasp(third_orange_ring)": [
+        "pick_up(third_orange_ring)"
+      ],
+      "pick_up(third_orange_ring)": [
+        "move_to(third_orange_ring, stick)"
+      ],
+      "move_to(third_orange_ring, stick)": [
+        "place(third_orange_ring, stick)"
+      ],
+      "place(third_orange_ring, stick)": [],
+      "move_to(none, fourth_orange_ring)": [
+        "grasp(fourth_orange_ring)"
+      ],
+      "grasp(fourth_orange_ring)": [
+        "pick_up(fourth_orange_ring)"
+      ],
+      "pick_up(fourth_orange_ring)": [
+        "move_to(fourth_orange_ring, stick)"
+      ],
+      "move_to(fourth_orange_ring, stick)": [
+        "place(fourth_orange_ring, stick)"
+      ],
+      "place(fourth_orange_ring, stick)": [],
+      "move_to(none, fifth_orange_ring)": [
+        "grasp(fifth_orange_ring)"
+      ],
+      "grasp(fifth_orange_ring)": [
+        "pick_up(fifth_orange_ring)"
+      ],
+      "pick_up(fifth_orange_ring)": [
+        "move_to(fifth_orange_ring, stick)"
+      ],
+      "move_to(fifth_orange_ring, stick)": [
+        "place(fifth_orange_ring, stick)"
+      ],
+      "place(fifth_orange_ring, stick)": [],
+      "move_to(none, first_red_ring)": [
+        "grasp(first_red_ring)"
+      ],
+      "grasp(first_red_ring)": [
+        "pick_up(first_red_ring)"
+      ],
+      "pick_up(first_red_ring)": [
+        "move_to(first_red_ring, second_stick)"
+      ],
+      "move_to(first_red_ring, second_stick)": [
+        "place(first_red_ring,second_stick)"
+      ],
+      "place(first_red_ring,second_stick)": [],
+      "move_to(none, second_red_ring)": [
+        "grasp(second_red_ring)"
+      ],
+      "grasp(second_red_ring)": [
+        "pick_up(second_red_ring)"
+      ],
+      "pick_up(second_red_ring)": [
+        "move_to(second_red_ring, second_stick)"
+      ],
+      "move_to(second_red_ring, second_stick)": [
+        "place(second_red_ring,second_stick)"
+      ],
+      "place(second_red_ring,second_stick)": [],
+      "move_to(none, third_red_ring)": [
+        "grasp( third_red_ring)"
+      ],
+      "grasp( third_red_ring)": [
+        "pick_up( third_red_ring)"
+      ],
+      "pick_up( third_red_ring)": [
+        "move_to( third_red_ring, second_stick)"
+      ],
+      "move_to( third_red_ring, second_stick)": [
+        "place( third_red_ring,second_stick)"
+      ],
+      "place( third_red_ring,second_stick)": [],
+      "move_to(none, fouth_red_ring)": [
+        "grasp( fouth_red_ring)"
+      ],
+      "grasp( fouth_red_ring)": [
+        "pick_up( fouth_red_ring)"
+      ],
+      "pick_up( fouth_red_ring)": [
+        "move_to( fouth_red_ring, second_stick)"
+      ],
+      "move_to( fouth_red_ring, second_stick)": [
+        "place( fouth_red_ring,second_stick)"
+      ],
+      "place( fouth_red_ring,second_stick)": [],
+      "move_to(none, yellow_ring)": [
+        "grasp(yellow_ring)"
+      ],
+      "grasp(yellow_ring)": [
+        "pick_up(yellow_ring)"
+      ],
+      "pick_up(yellow_ring)": [
+        "move_to(yellow_ring, stick)"
+      ],
+      "move_to(yellow_ring, stick)": [
+        "place(yellow_ring, stick)"
+      ],
+      "place(yellow_ring, stick)": [],
+      "move_to(none, second_yellow_ring)": [
+        "grasp(second_yellow_ring)"
+      ],
+      "grasp(second_yellow_ring)": [
+        "pick_up(second_yellow_ring)"
+      ],
+      "pick_up(second_yellow_ring)": [
+        "move_to(second_yellow_ring, third_stick)"
+      ],
+      "move_to(second_yellow_ring, third_stick)": [
+        "place(second_yellow_ring, third_stick)"
+      ],
+      "place(second_yellow_ring, third_stick)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_43174.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_44665",
+    "actions_list": [
+      "move_to(none,white_towel)",
+      "grasp(white_towel)",
+      "pick_up(white_towel)",
+      "move_to(white_towel,basket)",
+      "place(white_towel,basket)",
+      "move_to(none,marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker,cup)",
+      "place(marker,cup)",
+      "move_to(none,yellow_towel)",
+      "grasp(yellow_towel)",
+      "pick_up(yellow_towel)",
+      "move_to(yellow_towel, basket)",
+      "place(yellow_towel, basket)",
+      "move_to(tape)",
+      "grasp(tape)",
+      "pick_up(tape)",
+      "move_to(tape, cup)",
+      "place(tape, cup)"
+    ],
+    "gt_dag": {
+      "move_to(none,white_towel)": [
+        "grasp(white_towel)"
+      ],
+      "grasp(white_towel)": [
+        "pick_up(white_towel)"
+      ],
+      "pick_up(white_towel)": [
+        "move_to(white_towel,basket)"
+      ],
+      "move_to(white_towel,basket)": [
+        "place(white_towel,basket)"
+      ],
+      "place(white_towel,basket)": [],
+      "move_to(none,marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker,cup)"
+      ],
+      "move_to(marker,cup)": [
+        "place(marker,cup)"
+      ],
+      "place(marker,cup)": [],
+      "move_to(none,yellow_towel)": [
+        "grasp(yellow_towel)"
+      ],
+      "grasp(yellow_towel)": [
+        "pick_up(yellow_towel)"
+      ],
+      "pick_up(yellow_towel)": [
+        "move_to(yellow_towel, basket)"
+      ],
+      "move_to(yellow_towel, basket)": [
+        "place(yellow_towel, basket)"
+      ],
+      "place(yellow_towel, basket)": [],
+      "move_to(tape)": [
+        "grasp(tape)"
+      ],
+      "grasp(tape)": [
+        "pick_up(tape)"
+      ],
+      "pick_up(tape)": [
+        "move_to(tape, cup)"
+      ],
+      "move_to(tape, cup)": [
+        "place(tape, cup)"
+      ],
+      "place(tape, cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_44665.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_45396",
+    "actions_list": [
+      "move_to(none, spatula_in_the_utensil_holder)",
+      "grasp(spatula)",
+      "pick_up(spatula)",
+      "move_to(spatula, counter)",
+      "place(spatula, counter)",
+      "move_to(none, spoon_in_the_utensil_holder)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, counter)",
+      "place(spoon, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, spatula_in_the_utensil_holder)": [
+        "grasp(spatula)"
+      ],
+      "grasp(spatula)": [
+        "pick_up(spatula)"
+      ],
+      "pick_up(spatula)": [
+        "move_to(spatula, counter)"
+      ],
+      "move_to(spatula, counter)": [
+        "place(spatula, counter)"
+      ],
+      "place(spatula, counter)": [],
+      "move_to(none, spoon_in_the_utensil_holder)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, counter)"
+      ],
+      "move_to(spoon, counter)": [
+        "place(spoon, counter)"
+      ],
+      "place(spoon, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_45396.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_47405",
+    "actions_list": [
+      "move_to(none,bottom_right_cup)",
+      "grasp(bottom_right_cup)",
+      "pick_up(bottom_right_cup)",
+      "move_to(bottom_right_cup, top_right_cupr_cup)",
+      "place(bottom_right_cup, top_right_cupr_cup)",
+      "move_to(none,top_right_cupr_cup)",
+      "grasp(top_right_cupr_cup)",
+      "pick_up(top_right_cup)",
+      "move_to(top_right_cup, bottom_left_cup)",
+      "place(top_right_cup, bottom_left_cup)",
+      "move_to(none,bottom_left_cup)",
+      "grasp(bottom_left_cup)",
+      "pick_up(bottom_left_cup)",
+      "move_to(bottom_left_cup, top_left_cup)",
+      "place(bottom_left_cup, top_left_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none,bottom_right_cup)": [
+        "grasp(bottom_right_cup)"
+      ],
+      "grasp(bottom_right_cup)": [
+        "pick_up(bottom_right_cup)"
+      ],
+      "pick_up(bottom_right_cup)": [
+        "move_to(bottom_right_cup, top_right_cupr_cup)"
+      ],
+      "move_to(bottom_right_cup, top_right_cupr_cup)": [
+        "place(bottom_right_cup, top_right_cupr_cup)"
+      ],
+      "place(bottom_right_cup, top_right_cupr_cup)": [],
+      "move_to(none,top_right_cupr_cup)": [
+        "grasp(top_right_cupr_cup)"
+      ],
+      "grasp(top_right_cupr_cup)": [
+        "pick_up(top_right_cup)"
+      ],
+      "pick_up(top_right_cup)": [
+        "move_to(top_right_cup, bottom_left_cup)"
+      ],
+      "move_to(top_right_cup, bottom_left_cup)": [
+        "place(top_right_cup, bottom_left_cup)"
+      ],
+      "place(top_right_cup, bottom_left_cup)": [],
+      "move_to(none,bottom_left_cup)": [
+        "grasp(bottom_left_cup)"
+      ],
+      "grasp(bottom_left_cup)": [
+        "pick_up(bottom_left_cup)"
+      ],
+      "pick_up(bottom_left_cup)": [
+        "move_to(bottom_left_cup, top_left_cup)"
+      ],
+      "move_to(bottom_left_cup, top_left_cup)": [
+        "place(bottom_left_cup, top_left_cup)"
+      ],
+      "place(bottom_left_cup, top_left_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_47405.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_85",
+    "actions_list": [
+      "move_to(none,white_can)",
+      "grasp(white_can)",
+      "pick_up(white_can)",
+      "move_to(white_can, tray)",
+      "place(white_can, tray)",
+      "move_to(none,green_can)",
+      "grasp(green_can)",
+      "pick_up(green_can)",
+      "move_to(green_can, tray)",
+      "place(green_can, tray)",
+      "move_to(none,orange_can)",
+      "grasp(orange_can)",
+      "pick_up(orange_can)",
+      "move_yo(orange_can, tray)",
+      "place(orange_can, tray)",
+      "move_to(none,brown_can)",
+      "grasp(brown_can)",
+      "pick_up(brown_can)",
+      "move_to(brown_can, tray)",
+      "place(brown_can, tray)"
+    ],
+    "gt_dag": {
+      "move_to(none,white_can)": [
+        "grasp(white_can)"
+      ],
+      "grasp(white_can)": [
+        "pick_up(white_can)"
+      ],
+      "pick_up(white_can)": [
+        "move_to(white_can, tray)"
+      ],
+      "move_to(white_can, tray)": [
+        "place(white_can, tray)"
+      ],
+      "place(white_can, tray)": [],
+      "move_to(none,green_can)": [
+        "grasp(green_can)"
+      ],
+      "grasp(green_can)": [
+        "pick_up(green_can)"
+      ],
+      "pick_up(green_can)": [
+        "move_to(green_can, tray)"
+      ],
+      "move_to(green_can, tray)": [
+        "place(green_can, tray)"
+      ],
+      "place(green_can, tray)": [],
+      "move_to(none,orange_can)": [
+        "grasp(orange_can)"
+      ],
+      "grasp(orange_can)": [
+        "pick_up(orange_can)"
+      ],
+      "pick_up(orange_can)": [
+        "move_yo(orange_can, tray)"
+      ],
+      "move_yo(orange_can, tray)": [
+        "place(orange_can, tray)"
+      ],
+      "place(orange_can, tray)": [],
+      "move_to(none,brown_can)": [
+        "grasp(brown_can)"
+      ],
+      "grasp(brown_can)": [
+        "pick_up(brown_can)"
+      ],
+      "pick_up(brown_can)": [
+        "move_to(brown_can, tray)"
+      ],
+      "move_to(brown_can, tray)": [
+        "place(brown_can, tray)"
+      ],
+      "place(brown_can, tray)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_85.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_324",
+    "actions_list": [
+      "move_to(none, orange_cup)",
+      "grasp(orange_cup)",
+      "pick_up(orange_cup)",
+      "move_to(orange_cup, blue_cup)",
+      "place(orange_cup, blue_cup)",
+      "move_to(none, purple_cup)",
+      "grasp(purple_cup)",
+      "pick_up(purple_cup)",
+      "move_to(purple_cup, blue_cup)",
+      "place(purple_cup, blue_cup)",
+      "move_to(none, green_cup)",
+      "grasp(green_cup)",
+      "pick_up(green_cup)",
+      "move_to(green_cup, blue_cup)",
+      "place(green_cup, blue_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_cup)": [
+        "grasp(orange_cup)"
+      ],
+      "grasp(orange_cup)": [
+        "pick_up(orange_cup)"
+      ],
+      "pick_up(orange_cup)": [
+        "move_to(orange_cup, blue_cup)"
+      ],
+      "move_to(orange_cup, blue_cup)": [
+        "place(orange_cup, blue_cup)"
+      ],
+      "place(orange_cup, blue_cup)": [],
+      "move_to(none, purple_cup)": [
+        "grasp(purple_cup)"
+      ],
+      "grasp(purple_cup)": [
+        "pick_up(purple_cup)"
+      ],
+      "pick_up(purple_cup)": [
+        "move_to(purple_cup, blue_cup)"
+      ],
+      "move_to(purple_cup, blue_cup)": [
+        "place(purple_cup, blue_cup)"
+      ],
+      "place(purple_cup, blue_cup)": [],
+      "move_to(none, green_cup)": [
+        "grasp(green_cup)"
+      ],
+      "grasp(green_cup)": [
+        "pick_up(green_cup)"
+      ],
+      "pick_up(green_cup)": [
+        "move_to(green_cup, blue_cup)"
+      ],
+      "move_to(green_cup, blue_cup)": [
+        "place(green_cup, blue_cup)"
+      ],
+      "place(green_cup, blue_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_324.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_316",
+    "actions_list": [
+      "move_to(none,white_can)",
+      "grasp(white_can)",
+      "pick_up(white_can)",
+      "move_to(white_can, plate)",
+      "place(white_can, plate)",
+      "move_to(none,orange_can)",
+      "grasp(orange_can)",
+      "pick_up(orange_can)",
+      "move_to(orange_can, plate)",
+      "place(orange_can, plate)",
+      "move_to(none,brown_can)",
+      "grasp(brown_can)",
+      "pick_up(brown_can)",
+      "move_to(brown_can, plate)",
+      "place(brown_can, plate)",
+      "move_to(none,white_bag_of_chip)",
+      "grasp(white_bag_of_chip)",
+      "pick_up(white_bag_of_chip)",
+      "move_to(white_bag_of_chip, bowl)",
+      "place(white_bag_of_chip, bowl)",
+      "move_to(none,brown_bag_of_chip)",
+      "grasp(brown_bag_of_chip)",
+      "pick_up(brown_bag_of_chip)",
+      "move_to(brown_bag_of_chip, bowl)",
+      "place(brown_bag_of_chip, bowl)",
+      "move_to(none,orange_bag_of_chip)",
+      "grasp(orange_bag_of_chip)",
+      "pick_up(orange_bag_of_chip)",
+      "move_to(orange_bag_of_chip, bowl)",
+      "place(orange_bag_of_chip, bowl)",
+      "move_to(none,last_bag_of_chip)",
+      "grasp(last_bag_of_chip)",
+      "pick_up(last_bag_of_chip)",
+      "move_to(last_bag_of_chip, bowl)",
+      "place(last_bag_of_chip, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none,white_can)": [
+        "grasp(white_can)"
+      ],
+      "grasp(white_can)": [
+        "pick_up(white_can)"
+      ],
+      "pick_up(white_can)": [
+        "move_to(white_can, plate)"
+      ],
+      "move_to(white_can, plate)": [
+        "place(white_can, plate)"
+      ],
+      "place(white_can, plate)": [],
+      "move_to(none,orange_can)": [
+        "grasp(orange_can)"
+      ],
+      "grasp(orange_can)": [
+        "pick_up(orange_can)"
+      ],
+      "pick_up(orange_can)": [
+        "move_to(orange_can, plate)"
+      ],
+      "move_to(orange_can, plate)": [
+        "place(orange_can, plate)"
+      ],
+      "place(orange_can, plate)": [],
+      "move_to(none,brown_can)": [
+        "grasp(brown_can)"
+      ],
+      "grasp(brown_can)": [
+        "pick_up(brown_can)"
+      ],
+      "pick_up(brown_can)": [
+        "move_to(brown_can, plate)"
+      ],
+      "move_to(brown_can, plate)": [
+        "place(brown_can, plate)"
+      ],
+      "place(brown_can, plate)": [],
+      "move_to(none,white_bag_of_chip)": [
+        "grasp(white_bag_of_chip)"
+      ],
+      "grasp(white_bag_of_chip)": [
+        "pick_up(white_bag_of_chip)"
+      ],
+      "pick_up(white_bag_of_chip)": [
+        "move_to(white_bag_of_chip, bowl)"
+      ],
+      "move_to(white_bag_of_chip, bowl)": [
+        "place(white_bag_of_chip, bowl)"
+      ],
+      "place(white_bag_of_chip, bowl)": [],
+      "move_to(none,brown_bag_of_chip)": [
+        "grasp(brown_bag_of_chip)"
+      ],
+      "grasp(brown_bag_of_chip)": [
+        "pick_up(brown_bag_of_chip)"
+      ],
+      "pick_up(brown_bag_of_chip)": [
+        "move_to(brown_bag_of_chip, bowl)"
+      ],
+      "move_to(brown_bag_of_chip, bowl)": [
+        "place(brown_bag_of_chip, bowl)"
+      ],
+      "place(brown_bag_of_chip, bowl)": [],
+      "move_to(none,orange_bag_of_chip)": [
+        "grasp(orange_bag_of_chip)"
+      ],
+      "grasp(orange_bag_of_chip)": [
+        "pick_up(orange_bag_of_chip)"
+      ],
+      "pick_up(orange_bag_of_chip)": [
+        "move_to(orange_bag_of_chip, bowl)"
+      ],
+      "move_to(orange_bag_of_chip, bowl)": [
+        "place(orange_bag_of_chip, bowl)"
+      ],
+      "place(orange_bag_of_chip, bowl)": [],
+      "move_to(none,last_bag_of_chip)": [
+        "grasp(last_bag_of_chip)"
+      ],
+      "grasp(last_bag_of_chip)": [
+        "pick_up(last_bag_of_chip)"
+      ],
+      "pick_up(last_bag_of_chip)": [
+        "move_to(last_bag_of_chip, bowl)"
+      ],
+      "move_to(last_bag_of_chip, bowl)": [
+        "place(last_bag_of_chip, bowl)"
+      ],
+      "place(last_bag_of_chip, bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_number_images_rtx_frames__new_85_85_droid#episode_316.png"
+  }
+]
\ No newline at end of file
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-1_task-123_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring pipette tips from a rack to a holder> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, pipette_tip_rack), 2-grasp(first_pipette_tip), 3-pick_up(first_pipette_tip), 4-move_to(first_pipette_tip, holder), 5-place(first_pipette_tip, holder), 6-move_to(none, pipette_tip_rack), 7-grasp(second_pipette_tip), 8-pick_up(second_pipette_tip), 9-move_to(second_pipette_tip, holder), 10-place(second_pipette_tip, holder), 11-move_to(none, pipette_tip_rack), 12-grasp(third_pipette_tip), 13-pick_up(third_pipette_tip), 14-move_to(third_pipette_tip, holder), 15-place(third_pipette_tip, holder), 16-move_to(none, pipette_tip_rack), 17-grasp(fourth_pipette_tip), 18-pick_up(fourth_pipette_tip), 19-move_to(fourth_pipette_tip, holder), 20-place(fourth_pipette_tip, holder), 21-move_to(none, pipette_tip_rack), 22-grasp(fifth_pipette_tip), 23-pick_up(fifth_pipette_tip), 24-move_to(fifth_pipette_tip, holder), 25-place(fifth_pipette_tip, holder), 26-move_to(none, pipette_tip_rack), 27-grasp(sixth_pipette_tip), 28-pick_up(sixth_pipette_tip), 29-move_to(sixth_pipette_tip, holder), 30-place(sixth_pipette_tip, holder), 31-move_to(none, pipette_tip_rack), 32-grasp(seventh_pipette_tip), 33-pick_up(seventh_pipette_tip), 34-move_to(seventh_pipette_tip, holder), 35-place(seventh_pipette_tip, holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-122_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer pipette tips from a rack to a holder> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-grasp(first_tip), 2-pick_up(first_tip), 3-move_to(first_tip, holder), 4-place(first_tip, holder), 5-grasp(second_tip), 6-pick_up(second_tip), 7-move_to(second_tip, holder), 8-place(second_tip, holder), 9-grasp(third_tip), 10-pick_up(third_tip), 11-move_to(third_tip, holder), 12-place(third_tip, holder), 13-grasp(fourth_tip), 14-pick_up(fourth_tip), 15-move_to(fourth_tip, holder), 16-place(fourth_tip, holder), 17-grasp(fifth_tip), 18-pick_up(fifth_tip), 19-move_to(fifth_tip, holder), 20-place(fifth_tip, holder), 21-grasp(sixth_tip), 22-pick_up(sixth_tip), 23-move_to(sixth_tip, holder), 24-place(sixth_tip, holder), 25-grasp(seventh_tip), 26-pick_up(seventh_tip), 27-move_to(seventh_tip, holder), 28-place(seventh_tip, holder), 29-grasp(eighth_tip), 30-pick_up(eighth_tip), 31-move_to(eighth_tip, holder), 32-place(eighth_tip, holder), 33-grasp(ninth_tip), 34-pick_up(ninth_tip), 35-move_to(ninth_tip, holder), 36-place(ninth_tip, holder), 37-grasp(tenth_tip), 38-pick_up(tenth_tip), 39-move_to(tenth_tip, holder), 40-place(tenth_tip, holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-59_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting the blocks out of the blue box onto the white cloth> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, gift_box), 2-grasp(large_block), 3-pick_up(large_block), 4-move_to(large_block, white_cloth), 5-place(large_block, white_cloth), 6-move_to(none, gift_box), 7-grasp(small_block), 8-pick_up(small_block), 9-move_to(small_block, white_cloth), 10-place(small_block, white_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-8_task-59_episode-4_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a gift box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-grasp(wooden_block), 2-pick_up(wooden_block), 3-move_to(wooden_block, green_cloth), 4-place(wooden_block, green_cloth), 5-grasp(small_ball), 6-pick_up(small_ball), 7-move_to(small_ball, green_cloth), 8-place(small_ball, green_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-10_task-59_episode-4_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a gift box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-grasp(soccer_ball), 2-pick_up(soccer_ball), 3-move_to(soccer_ball, green_cloth), 4-place(soccer_ball, green_cloth), 5-grasp(small_wooden_block), 6-pick_up(small_wooden_block), 7-move_to(small_wooden_block, green_cloth), 8-place(small_wooden_block, green_cloth), 9-grasp(big_wooden_block), 10-pick_up(big_wooden_block), 11-move_to(big_wooden_block, green_cloth), 12-place(big_wooden_block, green_cloth), 13-grasp(basketball), 14-pick_up(basketball), 15-move_to(basketball, green_cloth), 16-place(basketball, green_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-42_task-44_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn off switches on a power strip> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, power_strip), 2-grasp(first_switch), 3-press(none, first_switch), 4-grasp(second_switch), 5-press(none, second_switch), 6-grasp(third_switch), 7-press(none, third_switch), 8-grasp(fourth_switch), 9-press(none, fourth_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-44_task-47_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a gift box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, gift_box), 2-grasp(basketball), 3-pick_up(basketball), 4-move_to(basketball, table), 5-place(basketball, table), 6-move_to(none, gift_box), 7-grasp(rubiks_cube), 8-pick_up(rubiks_cube), 9-move_to(rubiks_cube, table), 10-place(rubiks_cube, table), 11-move_to(none, gift_box), 12-grasp(pen), 13-pick_up(pen), 14-move_to(pen, table), 15-place(pen, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-113_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring pipette tips from one box to another> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-grasp(first_pipette_tip), 2-pick_up(first_pipette_tip), 3-move_to(first_pipette_tip, other_box), 4-place(first_pipette_tip, other_box), 5-grasp(second_pipette_tip), 6-pick_up(second_pipette_tip), 7-move_to(second_pipette_tip, other_box), 8-place(second_pipette_tip, other_box), 9-grasp(third_pipette_tip), 10-pick_up(third_pipette_tip), 11-move_to(third_pipette_tip, other_box), 12-place(third_pipette_tip, other_box), 13-grasp(fourth_pipette_tip), 14-pick_up(fourth_pipette_tip), 15-mpve_to(fourth_pipette_tip, other_box), 16-place(fourth_pipette_tip, other_box), 17-grasp(fifth_pipette_tip), 18-pick_up(fifth_pipette_tip), 19-move_to(fifth_pipette_tip, other_box), 20-place(fifth_pipette_tip, other_box), 21-grasp(sixth_pipette_tip), 22-pick_up(sixth_pipette_tip), 23-move_to(sixth_pipette_tip, other_box), 24-place(sixth_pipette_tip, other_box), 25-grasp(seventh_pipette_tip), 26-pick_up(seventh_pipette_tip), 27-move_to(seventh_pipette_tip, other_box), 28-place(seventh_pipette_tip, other_box), 29-grasp(eighth_pipette_tip), 30-pick_up(eighth_pipette_tip), 31-move_to(eighth_pipette_tip, other_box), 32-place(eighth_pipette_tip, other_box), 33-grasp(ninth_pipette_tip), 34-pick_up(ninth_pipette_tip), 35-move_to(ninth_pipette_tip, other_box), 36-place(ninth_pipette_tip, other_box), 37-grasp(tenth_pipette_tip), 38-pick_up(tenth_pipette_tip), 39-move_to(tenth_pipette_tip, other_box), 40-place(tenth_pipette_tip, other_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/RDT-FT_imgs_1_pick_out_clip_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <removing clips from a container and placing them on a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-left:move_to(none, table), right:move_to(none, container), 2-grasp(clip), 3-pick_up(clip), 4-move_to(clip, table), 5-place(clip, table), 6-move_to(none, container), 7-grasp(clip), 8-pick_up(clip), 9-:move_to(clip, table), 10-place(clip, table), 11-move_to(none, container), 12-grasp(clip), 13-pick_up(clip), 14-move_to(clip, table), 15-place(clip, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_40929_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sweeping scattered objects into a pile> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, sweeping_tool), 2-grasp(sweeping_tool), 3-wipe(sweeping_tool, scattered_objects, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_33_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <preparing a cup of tea> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, tea_bag), 2-grasp(tea_bag), 3-pick_up(tea_bag), 4-move_to(tea_bag, blue_cup), 5-place(tea_bag, blue_cup), 6-move_to(none, tea_bag), 7-grasp(tea_bag), 8-pick_up(tea_bag), 9-move_to(tea_bag, yellow_cup), 10-place(tea_bag, yellow_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_82_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing away crumpled papers> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, crumpled_paper_in_the_red_bowl), 2-grasp(crumpled_paper_in_the_red_bowl), 3-pick_up(crumpled_paper_in_the_red_bowl), 4-move_to(crumpled_paper_in_the_red_bowl, trash_can), 5-place(crumpled_paper_in_the_red_bowl, trash_can), 6-move_to(none, crumpled_paper_in_the_blue_bowl), 7-grasp(crumpled_paper_in_the_blue_bowl), 8-pick_up(crumpled_paper_in_the_blue_bowl), 9-move_to(crumpled_paper_in_the_blue_bowl, trash_can), 10-place(crumpled_paper_in_the_blue_bowl, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_95_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing away crumpled papers> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_crumpled_paper), 2-grasp(first_crumpled_paper), 3-pick_up(first_crumpled_paper), 4-move_to(first_crumpled_paper, bin), 5-place(first_crumpled_paper, bin), 6-move_to(none, second_crumpled_paper), 7-grasp(second_crumpled_paper), 8-pick_up(second_crumpled_paper), 9-move_to(second_crumpled_paper, bin), 10-place(second_crumpled_paper, bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_173_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking the cups> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, red_cup), 2-grasp(red_cup), 3-pick_up(red_cup), 4-move_to(red_cup, yellow_cup), 5-place(red_cup, yellow_cup), 6-move_to(none, green_cup), 7-grasp(green_cup), 8-pick_up(green_cup), 9-move_to(green_cup, red_cup), 10-place(green_cup, red_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_1571_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a basket of plush toys> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, basket), 2-grasp(round_pineapple_plush_toy), 3-pick_up(round_pineapple_plush_toy), 4-move_to(pineapple_plush_toy, table), 5-place(pineapple_plush_toy, table), 6-move_to(none, watermelon_slice_shaped_plush_toy), 7-grasp(watermelon_slice_shaped_plush_toy), 8-pick_up(watermelon_slice_shaped_plush_toy), 9-move_to(watermelon_plush_toy, table), 10-place(watermelon_plush_toy, table), 11-move_to(none, banana_plush_toy), 12-grasp(banana_plush_toy), 13-pick_up(banana_plush_toy), 14-move_to(banana_plush_toy, table), 15-place(banana_plush_toy, table), 16-move_to(plush_toy_shaped_like_a_bunch_of_grapes), 17-grasp(plush_toy_shaped_like_a_bunch_of_grapes), 18-pick_up(plush_toy_shaped_like_a_bunch_of_grapes), 19-move_to(grapes_plush_toy, table), 20-place(grapes_plush_toy, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_1573_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a cloth and two books from a box and put them on a sofa> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, box), 2-grasp(first_book), 3-pick_up(first_book), 4-move_to(first_book, sofa), 5-place(first_book, sofa), 6-move_to(none, second_book), 7-grasp(second_book), 8-pick_up(second_book), 9-move_to(second_book, sofa), 10-place(second_book, sofa), 11-move_to(none, cloth), 12-grasp(cloth), 13-pick_up(cloth), 14-move_to(cloth, sofa), 15-place(cloth, sofa)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_1589_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring fruits and vegetables from bowls to a countertop> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, lime), 2-grasp(lime), 3-pick_up(lime), 4-move_to(lime, countertop), 5-place(lime, countertop), 6-move_to(none, banana), 7-grasp(banana), 8-pick_up(banana), 9-move_to(banana, counter), 10-place(banana, counter), 11-move_to(none, orange), 12-grasp(orange), 13-pick_up(orange), 14-move_to(orange, countertop), 15-place(orange, countertop), 16-move_to(none, red_bell_pepper), 17-grasp(red_bell_pepper), 18-pick_up(red_bell_pepper), 19-move_to(red_bell_pepper, countertop), 20-place(red_bell_pepper, countertop), 21-move_to(none, apple), 22-grasp(apple), 23-pick_up(apple), 24-move_to(apple, countertop), 25-place(apple, countertop), 26-move_to(none, orange), 27-grasp(orange), 28-pick_up(orange), 29-move_to(orange, countertop), 30-place(orange, countertop), 31-move_to(none, first_green_object), 32-grasp(first_green_object), 33-pick_up(first_green_object), 34-move_to(first_green_object, countertop), 35-place(first_green_object, countertop), 36-move_to(none, second_green_object), 37-grasp(second_green_object), 38-pick_up(second_green_object), 39-move_to(second_green_object, countertop), 40-place(second_green_object, countertop), 41-move_to(none, red_object), 42-grasp(red_object), 43-pick_up(red_object), 44-move_to(red_object, countertop), 45-place(red_object, countertop), 46-move_to(none, pear), 47-grasp(pear), 48-pick_up(pear), 49-move_to(pear, countertop), 50-place(pear, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_1692_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing clothes on the back of a chair> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, clothes), 2-grasp(pink_clothes_and_white_clothes), 3-pick_up(pink_clothes_and_white_clothes), 4-move_to(pink_clothes_and_white_clothes, chair_back), 5-place(pink_clothes_and_white_clothes, back_rest_of_the_chair), 6-move_to(none, clothes), 7-grasp(green_clothes), 8-pick_up(green_clothes), 9-move_to(green_clothes, chair_back), 10-place(green_clothes, back_rest_of_the_chair), 11-move_to(none, clothes), 12-grasp(yellow_clothes_and_red_clothes), 13-pick_up(yellow_clothes_and_red_clothes), 14-move_to(yellow_clothes_and_red_clothes, chair_back), 15-place(yellow_clothes_and_red_clothes, back_rest_of_the_chair)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_2171_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove clothes from a chair and place them on a box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, clothes_on_the_chair), 2-grasp(peach_colored_cloth), 3-pick_up(peach_colored_cloth), 4-move_to(peach_colored_cloth, box), 5-place(peach_colored_cloth, box), 6-move_to(none, pink_cloth), 7-grasp(pink_cloth), 8-pick_up(pink_cloth), 9-move_to(pink_cloth, box), 10-place(pink_cloth, box), 11-move_to(yellow_cloth), 12-grasp(yellow_cloth), 13-pick_up(yellow_cloth), 14-move_to(yellow_cloth, box), 15-place(yellow_cloth, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_2941_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing nail polish bottles into a bag> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_nail_polish_bottle), 2-grasp(first_nail_polish_bottle), 3-pick_up(first_nail_polish_bottle), 4-move_to(first_nail_polish_bottle, bag), 5-place(first_nail_polish_bottle, bag), 6-move_to(none, second_nail_polish_bottle), 7-grasp(second_nail_polish_bottle), 8-pick_up(second_nail_polish_bottle), 9-move_to(second_nail_polish_bottle, bag), 10-place(second_nail_polish_bottle, bag), 11-move_to(third_nail_polish_bottle), 12-grasp(third_nail_polish_bottle), 13-pick_up(third_nail_polish_bottle), 14-move_to(third_nail_polish_bottle, bag), 15-place(third_nail_polish_bottle, bag), 16-move_to(none, fourth_nail_polish_bottle), 17-grasp(fourth_nail_polish_bottle), 18-pick_up(fourth_nail_polish_bottle), 19-move_to(fourth_nail_polish_bottle, bag), 20-place(fourth_nail_polish_bottle, bag), 21-move_to(none, fifth_nail_polish_bottle), 22-grasp(fifth_nail_polish_bottle), 23-pick_up(fifth_nail_polish_bottle), 24-move_to(fifth_nail_polish_bottle, bag), 25-place(fifth_nail_polish_bottle, bag), 26-move_to(none, sixth_nail_polish_bottle), 27-grasp(sixth_nail_polish_bottle), 28-pick_up(sixth_nail_polish_bottle), 29-move_to(sixth_nail_polish_bottle, bag), 30-place(sixth_nail_polish_bottle, bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_3977_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unpacking bottles from a box and placing them on a counter> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_bottle), 2-grasp(first_bottle), 3-pick_up(first_bottle), 4-move_to(first_bottle, counter), 5-place(first_bottle, counter), 6-move_to(none, second_bottle), 7-grasp(second_bottle), 8-pick_up(second_bottle), 9-move_to(second_bottle, counter), 10-place(second_bottle, counter), 11-move_to(none, third_bottle), 12-grasp(third_bottle), 13-pick_up(third_bottle), 14-move_to(third_bottle, counter), 15-place(third_bottle, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_7598_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving clothes from a chair to a box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, clothes), 2-grasp(orange_clothes), 3-pick_up(orange_clothes), 4-move_to(orange_clothes, box), 5-place(orange_clothes, box), 6-move_to(none, clothes), 7-grasp(green_clothes), 8-pick_up(green_clothes), 9-move_to(green_clothes, box), 10-place(green_clothes, box), 11-move_to(none, clothes), 12-grasp(red_clothes), 13-pick_up(red_clothes), 14-move_to(red_clothes, box), 15-place(red_clothes, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_8057_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing plush fruits into bowls> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, green_pear), 2-grasp(green_pear), 3-pick_up(green_pear), 4-move_to(green_pear, black_bowl), 5-place(green_pear, black_bowl), 6-move_to(none, yellow_pear), 7-grasp(yellow_pear), 8-pick_up(yellow_pear), 9-move_to(yellow_pear, black_bowl), 10-place(yellow_pear, black_bowl), 11-move_to(none, strawberry), 12-grasp(strawberry), 13-pick_up(strawberry), 14-move_to(strawberry, black_bowl), 15-place(strawberry, black_bowl), 16-move_to(none, big_orange_object), 17-grasp(big_orange_object), 18-pick_up(big_orange_object), 19-move_to(big_orange_object, black_bowl), 20-place(big_orange_object, black_bowl), 21-move_to(none, big_orange_object), 22-grasp(big_orange_object), 23-pick_up(big_orange_object), 24-move_to(big_orange_object, black_bowl), 25-place(big_orange_object, black_bowl), 26-move_to(none, banana), 27-grasp(banana), 28-pick_up(banana), 29-move_to(banana, black_bowl), 30-place(banana, black_bowl), 31-move_to(none, green_ball), 32-grasp(green_ball), 33-pick_up(green_ball), 34-move_to(green_ball, black_bowl), 35-place(green_ball, black_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_10284_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking cups> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_cup), 2-grasp(first_cup), 3-pick_up(first_cup), 4-move_to(first_cup, another_cup), 5-place(first_cup, another_cup), 6-move_to(none, stacked_cups), 7-grasp(stacked_cups), 8-pick_up(stacked_cups), 9-move_to(stacked_cups, another_cup), 10-place(stacked_cups, another_cup), 11-move_to(none, stacked_cups), 12-grasp(stacked_cups), 13-pick_up(stacked_cups), 14-move_to(stacked_cups, another_cup), 15-place(stacked_cups, another_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_10611_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving caps to the left side of a surface> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, white_cap), 2-grasp(white_cap), 3-pick_up(white_cap), 4-move_to(white_cap, left_side_of_a_surface), 5-place(white_cap, left_side_of_a_surface), 6-move_to(none, light_blue_cap), 7-move_to(none, light_blue_cap), 8-grasp(light_blue_cap), 9-pick_up(light_blue_cap), 10-move_to(light_blue_cap, left_side_of_a_surface), 11-place(light_blue_cap, left_side_of_a_surface), 12-move_to(none, navy_blue_cap), 13-grasp(navy_blue_cap), 14-pick_up(navy_blue_cap), 15-move_to(navy_blue_cap, left_side_of_a_surface), 16-place(navy_blue_cap, left_side_of_a_surface)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12116_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing plushies onto a plate> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, purple_plushie), 2-grasp(purple_plushie), 3-pick_up(purple_plushie), 4-move_to(purple_plushie, plate), 5-place(purple_plushie, plate), 6-move_to(none, orange_plushie), 7-grasp(orange_plushie), 8-pick_up(orange_plushie), 9-move_to(orange_plushie, plate), 10-place(orange_plushie, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12255_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove fruits and vegetables from bowls and place them on a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, banana), 2-grasp(banana), 3-pick_up(banana), 4-move_to(banana, table), 5-place(banana, table), 6-move_to(none, pear), 7-grasp(pear), 8-pick_up(pear), 9-move_to(pear, table), 10-place(pear, table), 11-move_to(none, green_ball), 12-grasp(green_ball), 13-pick_up(green_ball), 14-move_to(green_ball, table), 15-place(green_ball, table), 16-move_to(none, orange), 17-grasp(orange), 18-pick_up(orange), 19-move_to(orange, table), 20-place(orange, table), 21-move_to(none, big_orange), 22-grasp(big_orange), 23-pick_up(big_orange), 24-move_to(big_orange, table), 25-place(big_orange, table), 26-move_to(none, porous_balls), 27-grasp(porous_balls), 28-pick_up(porous_balls), 29-move_to(porous_balls, table), 30-place(porous_balls, table), 31-move_to(none, carrot), 32-grasp(carrot), 33-pick_up(carrot), 34-move_to(carrot, table), 35-place(carrot, table), 36-move_to(none, yellow_ball), 37-grasp(yellow_ball), 38-pick_up(yellow_ball), 39-move_to(yellow_ball, table), 40-place(yellow_ball, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_13700_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a plastic bag> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, stuffed_animal), 2-grasp(stuffed_animal), 3-pick_up(stuffed_animal), 4-move_to(stuffed_animal, table), 5-place(stuffed_animal, table), 6-move_to(spice_container), 7-grasp(spice_container), 8-pick_up(spice_container), 9-move_to(spice_container, table), 10-place(spice_container, table), 11-move_to(none, white_bottle), 12-grasp(white_bottle), 13-pick_up(white_bottle), 14-move_to(white_bottle, table), 15-place(white_bottle, table), 16-move_to(none, white_bottle), 17-grasp(white_bottle), 18-pick_up(white_bottle), 19-move_to(white_bottle, table), 20-place(white_bottle, table), 21-move_to(none, first_yellow_bottle), 22-grasp(first_yellow_bottle), 23-pick_up(first_yellow_bottle), 24-move_to(first_yellow_bottle, table), 25-place(first_yellow_bottle, table), 26-move_to(none, second_yellow_bottle), 27-grasp(second_yellow_bottle), 28-pick_up(second_yellow_bottle), 29-move_to(second_yellow_bottle, table), 30-place(second_yellow_bottle, table), 31-move_to(none, third_yellow_bottle), 32-grasp(third_yellow_bottle), 33-pick_up(third_yellow_bottle), 34-move_to(third_yellow_bottle, table), 35-place(third_yellow_bottle, table), 36-move_to(none, fourth_yellow_bottle), 37-grasp(fourth_yellow_bottle), 38-pick_up(fourth_yellow_bottle), 39-move_to(fourth_yellow_bottle, table), 40-place(fourth_yellow_bottle, table), 41-move_to(none, purple_object), 42-grasp(purple_object), 43-pick_up(purple_object), 44-move_to(purple_object, table), 45-place(purple_object, table), 46-move_to(none, orange_object), 47-grasp(orange_object), 48-pick_up(orange_object), 49-move_to(orange_object, table), 50-place(orange_object, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_14085_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking cups> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, blue_cup), 2-grasp(blue_cup), 3-pick_up(blue_cup), 4-move_to(blue_cup, yellow_cup), 5-place(blue_cup, yellow_cup), 6-move_to(none, stacked_cups), 7-grasp(stacked_cups), 8-pick_up(stacked_cups), 9-move_to(stacked_cups, orange_cup), 10-place(stacked_cups, orange_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_14166_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving towels from a bar to a seat> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, towels), 2-grasp(yellow_towel), 3-pick_up(yellow_towel), 4-move_to(yellow_towel, bar), 5-place(yellow_towel, bar), 6-move_to(none, gray_towel), 7-grasp(gray_towel), 8-pick_up(gray_towel), 9-move_to(gray_towel, black_seat), 10-place(gray_towel, black_seat), 11-move_to(none, brown_towel), 12-grasp(brown_towel), 13-pick_up(brown_towel), 14-move_to(brown_towel, black_seat), 15-place(brown_towel, black_seat)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_15523_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place fruits into two bowls> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, yellow_ball), 2-grasp(yellow_ball), 3-pick_up(yellow_ball), 4-move_to(yellow_ball, left_bowl), 5-place(yellow_ball, left_bowl), 6-move_to(none, other_yellow_ball), 7-grasp(other_yellow_ball), 8-pick_up(other_yellow_ball), 9-move_to(other_yellow_ball, left_bowl), 10-place(other_yellow_ball, left_bowl), 11-move_to(none, strawberry), 12-grasp(strawberry), 13-pick_up(strawberry), 14-move_to(strawberry, left_bowl), 15-place(strawberry, left_bowl), 16-move_to(none, green_pear), 17-grasp(green_pear), 18-pick_up(green_pear), 19-move_to(green_pear, left_bowl), 20-place(green_pear, left_bowl), 21-move_to(none, green_ball), 22-grasp(green_ball), 23-pick_up(green_ball), 24-move_to(green_ball, left_bowl), 25-place(green_ball, left_bowl), 26-move_to(none, porous_ball), 27-grasp(porous_ball), 28-pick_up(porous_ball), 29-move_to(porous_ball, left_bowl), 30-place(porous_ball, left_bowl), 31-move_to(none, orange_object), 32-grasp(orange_object), 33-pick_up(orange_object), 34-move_to(orange_object, left_bowl), 35-place(orange_object, left_bowl), 36-move_to(none, banana), 37-grasp(banana), 38-pick_up(banana), 39-move_to(banana, left_bowl), 40-place(banana, left_bowl), 41-move_to(none, turnip), 42-grasp(turnip), 43-pick_up(turnip), 44-move_to(turnip, left_bowl), 45-place(turnip, left_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_16123_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <piling clothes and dolls on a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_cloth), 2-grasp(first_cloth), 3-pick_up(first_cloth), 4-move_to(first_cloth, pile), 5-place(first_cloth, pile), 6-move_to(none, second_cloth), 7-grasp(second_cloth), 8-pick_up(second_cloth), 9-move_to(second_cloth, pile), 10-place(second_cloth, pile), 11-move_to(none, third_cloth), 12-grasp(third_cloth), 13-pick_up(third_cloth), 14-move_to(third_cloth, pile), 15-place(third_cloth, pile), 16-move_to(none, fourth_cloth), 17-grasp(fourth_cloth), 18-pick_up(fourth_cloth), 19-move_to(fourth_cloth, pile), 20-place(fourth_cloth, pile), 21-move_to(none, fifth_cloth), 22-grasp(fifth_cloth), 23-pick_up(fifth_cloth), 24-move_to(fifth_cloth, pile), 25-place(fifth_cloth, pile), 26-move_to(none, carrot_doll), 27-grasp(carrot_doll), 28-pick_up(carrot_doll), 29-move_to(carrot_doll, pile), 30-place(carrot_doll, pile)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_16944_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting sponges in a cabinet and closing it> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, orange_sponge), 2-grasp(orange_sponge), 3-pick_up(orange_sponge), 4-move_to(orange_sponge, cabinet), 5-place(orange_sponge, cabinet), 6-move_to(none, green_sponge), 7-grasp(green_sponge), 8-pick_up(green_sponge), 9-move_to(green_sponge, cabinet), 10-place(green_sponge, cabinet), 11-move_to(none, cabinet_door_handle), 12-grasp(cabinet_door_handle), 13-push(cabinet_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_17188_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove toys from pots and place them on the stove, then wipe the countertop> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_toy), 2-grasp(first_toy), 3-pick_up(first_toy), 4-move_to(first_toy, stove), 5-place(first_toy, stove), 6-move_to(none, second_toy), 7-grasp(second_toy), 8-pick_up(second_toy), 9-move_to(second_toy, stove), 10-place(second_toy, stove), 11-move_to(none, orange_towel), 12-grasp(orange_towel), 13-wipe(orange_towel, water, left_side_of_the_countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_17997_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing garlic cloves onto a kitchen counter> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, garlic_cloves_on_the_plate), 2-grasp(first_garlic_clove), 3-pick_up(first_garlic_clove), 4-move_to(first_garlic_clove, counter), 5-place(first_garlic_clove, counter), 6-grasp(second_garlic_clove), 7-pick_up(second_garlic_clove), 8-move_to(second_garlic_clove, counter), 9-place(second_garlic_clove, counter), 10-grasp(fourth_garlic_clove), 11-pick_up(fourth_garlic_clove), 12-move_to(fourth_garlic_clove, counter), 13-place(fourth_garlic_clove, counter), 14-grasp(fifth_garlic_clove), 15-pick_up(fifth_garlic_clove), 16-move_to(fifth_garlic_clove, counter), 17-place(fifth_garlic_clove, counter), 18-grasp(sixth_garlic_clove), 19-pick_up(sixth_garlic_clove), 20-move_to(sixth_garlic_clove, counter), 21-place(sixth_garlic_clove, counter), 22-grasp(seventh_garlic_clove), 23-pick_up(seventh_garlic_clove), 24-move_to(seventh_garlic_clove, counter), 25-place(seventh_garlic_clove, counter), 26-grasp(eighth_garlic_clove), 27-pick_up(eighth_garlic_clove), 28-move_to(eighth_garlic_clove, counter), 29-place(eighth_garlic_clove, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_19596_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring objects from a bowl to a table and repositioning one object> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_green_block), 2-grasp(first_green_block), 3-pick_up(first_green_block), 4-move_to(first_green_block, table), 5-place(first_green_block, table), 6-grasp(second_green_block), 7-pick_up(second_green_block), 8-move_to(second_green_block, table), 9-place(second_green_block, table), 10-grasp(first_yellow_block), 11-pick_up(first_yellow_block), 12-move_to(first_yellow_block, table), 13-place(first_yellow_block, table), 14-grasp(first_orange_block), 15-pick_up(first_orange_block), 16-move_to(first_orange_block, table), 17-place(first_orange_block, table), 18-grasp(second_orange_block), 19-pick_up(second_orange_block), 20-move_to(second_orange_block, table), 21-place(second_orange_block, table), 22-grasp(second_yellow_block), 23-pick_up(second_yellow_block), 24-move_to(second_yellow_block, table), 25-place(second_yellow_block, table), 26-grasp(third_green_block), 27-pick_up(third_green_block), 28-move_to(third_green_block, table), 29-place(third_green_block, table), 30-grasp(orange_object), 31-pick_up(orange_object), 32-move_to(orange_object, table), 33-place(orange_object, table), 34-grasp(third_orange_block), 35-pick_up(third_orange_block), 36-move_to(third_orange_block, table), 37-place(third_orange_block, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_20988_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <emptying a plastic bag and placing its contents on a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, plastic_bag), 2-grasp(white_bottle), 3-pick_up(white_bottle), 4-move_to(white_bottle, table), 5-place(white_bottle, table), 6-grasp(brown_bottle), 7-pick_up(brown_bottle), 8-move_to(brown_bottle, table), 9-place(brown_bottle, table), 10-grasp(second_white_bottle), 11-pick_up(second_white_bottle), 12-move_to(second_white_bottle, table), 13-place(second_white_bottle, table), 14-grasp(green_bottle), 15-pick_up(green_bottle), 16-move_to(green_bottle, table), 17-place(green_bottle, table), 18-grasp(first_orange_bottle), 19-pick_up(first_orange_bottle), 20-move_to(first_orange_bottle, table), 21-place(first_orange_bottle, table), 22-grasp(second_orange_bottle), 23-pick_up(second_orange_bottle), 24-move_to(second_orange_bottle, table), 25-place(second_orange_bottle, table), 26-grasp(third_orange_bottle), 27-pick_up(third_orange_bottle), 28-move_to(third_orange_bottle, table), 29-place(third_orange_bottle, table), 30-grasp(purple_bottle), 31-pick_up(purple_bottle), 32-move_to(purple_bottle, table), 33-place(purple_bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_23589_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unpacking items from a bag onto a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-grasp(stuffed_animal), 2-pick_up(stuffed_animal), 3-move_to(stuffed_animal, table), 4-place(stuffed_animal, table), 5-grasp(white_bottle), 6-pick_up(white_bottle), 7-move_to(white_bottle, table), 8-place(white_bottle, table), 9-grasp(brown_container), 10-pick_up(brown_container), 11-move_to(brown_container, table), 12-place(brown_container, table), 13-grasp(first_orange_container), 14-pick_up(first_orange_container), 15-place(first_orange_container, table), 16-place(first_orange_container, table), 17-grasp(second_orange_container), 18-pick_up(second_orange_container), 19-move_to(second_orange_container, table), 20-place(second_orange_container, table), 21-grasp(third_orange_container), 22-pick_up(third_orange_container), 23-move_to(third_orange_container, table), 24-place(third_orange_container, table), 25-grasp(purple_container), 26-pick_up(purple_container), 27-move_to(purple_container, table), 28-place(purple_container, table), 29-grasp(yellow_object), 30-pick_up(yellow_object), 31-move_to(yellow_object, table), 32-place(yellow_object, table), 33-grasp(orange_object), 34-pick_up(orange_object), 35-move_to(orange_object, table), 36-place(orange_object, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_24678_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing ropes into a box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_rope), 2-grasp(first_rope), 3-pick_up(first_rope), 4-move_to(first_rope, box), 5-place(first_rope, box), 6-move_to(none, second_rope), 7-grasp(second_rope), 8-pick_up(second_rope), 9-move_to(second_rope, box), 10-place(second_rope, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_27565_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <gathering bottles and placing them in a bag> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-grasp(red_bottle), 2-pick_up(red_bottle), 3-move_to(red_bottle, bag), 4-place(red_bottle, bag), 5-grasp(first_orange_bottle), 6-pick_up(first_orange_bottle), 7-move_to(first_orange_bottle, bag), 8-place(first_orange_bottle, bag), 9-grasp(second_orange_bottle), 10-pick_up(second_orange_bottle), 11-move_to(second_orange_bottle, bag), 12-place(second_orange_bottle, bag), 13-grasp(third_orange_bottle), 14-pick_up(third_orange_bottle), 15-move_to(third_orange_bottle, bag), 16-place(third_orange_bottle, bag), 17-grasp(purple_bottle), 18-pick_up(purple_bottle), 19-move_to(purple_bottle, bag), 20-place(purple_bottle, bag), 21-grasp(first_white_bottle), 22-pick_up(first_white_bottle), 23-move_to(first_white_bottle, bag), 24-place(first_white_bottle, bag), 25-grasp(second_white_bottle), 26-pick_up(second_white_bottle), 27-move_to(second_white_bottle, bag), 28-place(second_white_bottle, bag), 29-grasp(block), 30-pick_up(block), 31-move_to(block, bag), 32-place(block, bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_28401_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a sponge and a plushie in a cabinet and closing the door> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-grasp(orange_sponge), 2-pick_up(orange_sponge), 3-move_to(sponge, cabinet), 4-place(sponge, cabinet), 5-grasp(yellow_plushie), 6-pick_up(yellow_plushie), 7-move_to(plushie, cabinet), 8-place(plushie, cabinet), 9-grasp(cabinet_door_handle), 10-push(cabinet_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_29961_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting legos into a bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-grasp(red_lego), 2-pick_up(red_lego), 3-move_to(red_lego, bowl), 4-place(red_lego, bowl), 5-move_to(none, bowl), 6-grasp(blue_lego), 7-pick_up(blue_lego), 8-move_to(blue_lego, bowl), 9-place(blue_lego, bowl), 10-move_to(none, bowl), 11-grasp(green_lego), 12-pick_up(green_lego), 13-move_to(green_lego, bowl), 14-place(green_lego, bowl), 15-move_to(none, bowl), 16-grasp(yellow_lego), 17-pick_up(yellow_lego), 18-move_to(yellow_lego, bowl), 19-place(yellow_lego, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_30724_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stack bowls and place forks inside> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_bowl), 2-grasp(first_bowl), 3-pick_up(first_bowl), 4-move_to(first_bowl, second_bowl), 5-place(first_bowl, second_bowl), 6-move_to(none, forks), 7-grasp(forks), 8-pick_up(forks), 9-move_to(forks, stacked_bowls), 10-place(forks, stacked_bowls)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_32772_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up all the fruits from a table and put them in two bowls> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, pear), 2-grasp(pear), 3-pick_up(pear), 4-move_to(pear, bowl), 5-place(pear, bowl), 6-move_to(none, first_yellow_ball), 7-grasp(first_yellow_ball), 8-pick_up(first_yellow_ball), 9-move_to(first_yellow_ball, bowl), 10-place(first_yellow_ball, bowl), 11-move_to(none, second_yellow_ball), 12-grasp(second_yellow_ball), 13-pick_up(second_yellow_ball), 14-move_to(second_yellow_ball, bowl), 15-place(second_yellow_ball, bowl), 16-move_to(none, second_yellow_ball), 17-grasp(second_yellow_ball), 18-pick_up(second_yellow_ball), 19-move_to(second_yellow_ball, bowl), 20-place(second_yellow_ball, bowl), 21-move_to(none, banana), 22-grasp(banana), 23-pick_up(banana), 24-move_to(banana, bowl), 25-place(banana, bowl), 26-move_to(none, green_ball), 27-grasp(green_ball), 28-pick_up(green_ball), 29-move_to(green_ball, bowl), 30-place(green_ball, bowl), 31-move_to(none, porous_ball), 32-grasp(porous_ball), 33-pick_up(porous_ball), 34-move_to(porous_ball, bowl), 35-place(porous_ball, bowl), 36-move_to(none, turnip), 37-grasp(turnip), 38-pick_up(turnip), 39-move_to(turnip, bowl), 40-place(turnip, bowl), 41-move_to(none, apple), 42-grasp(apple), 43-pick_up(apple), 44-move_to(apple, bowl), 45-place(apple, bowl), 46-move_to(none, strawberry), 47-grasp(strawberry), 48-pick_up(strawberry), 49-move_to(strawberry, bowl), 50-place(strawberry, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_34571_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sort and dispose of white pieces of paper into two bins> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_piece_of_paper), 2-grasp(first_piece_of_paper), 3-pick_up(first_piece_of_paper), 4-move_to(first_piece_of_paper, left_bin), 5-place(first_piece_of_paper, left_bin), 6-grasp(second_piece_of_paper), 7-pick_up(second_piece_of_paper), 8-move_to(second_piece_of_paper, left_bin), 9-place(second_piece_of_paper, left_bin), 10-grasp(third_piece_of_paper), 11-pick_up(third_piece_of_paper), 12-move_to(third_piece_of_paper, left_bin), 13-place(third_piece_of_paper, left_bin), 14-grasp(fourth_piece_of_paper), 15-pick_up(fourth_piece_of_paper), 16-move_to(fourth_piece_of_paper, left_bin), 17-place(fourth_piece_of_paper, left_bin), 18-grasp(fifth_piece_of_paper), 19-pick_up(fifth_piece_of_paper), 20-move_to(fifth_piece_of_paper, right_bin), 21-place(fifth_piece_of_paper, right_bin), 22-grasp(sixth_piece_of_paper), 23-pick_up(sixth_piece_of_paper), 24-move_to(sixth_piece_of_paper, left_bin), 25-place(sixth_piece_of_paper, left_bin), 26-grasp(seventh_piece_of_paper), 27-pick_up(seventh_piece_of_paper), 28-move_to(seventh_piece_of_paper, left_bin), 29-place(seventh_piece_of_paper, left_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_35962_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring balls from a bowl to a plate> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, purple_ball), 2-grasp(purple_ball), 3-pick_up(purple_ball), 4-move_to(picked_ball, plate), 5-place(picked_ball, plate), 6-move_to(none, pink_ball), 7-grasp(pink_ball), 8-pick_up(pink_ball), 9-move_to(pink_ball, plate), 10-place(pink_ball, plate), 11-move_to(none, red_ball), 12-grasp(red_ball), 13-pick_up(red_ball), 14-move_to(red_ball, plate), 15-place(red_ball, plate), 16-move_to(none, yellow_ball), 17-grasp(yellow_ball), 18-pick_up(yellow_ball), 19-move_to(yellow_ball, plate), 20-place(yellow_ball, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_36739_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pile the cloths on the left side of the table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(brown_cloth), 2-grasp(brown_cloth), 3-pick_up(brown_cloth), 4-place(brown_cloth, middle_of_the_table), 5-place(brown_cloth, middle_of_the_table), 6-move_to(white_cloth), 7-grasp(white_cloth), 8-pick_up(white_cloth), 9-place(white_cloth, middle_of_the_table), 10-place(white_cloth, middle_of_the_table), 11-move_to(yellow_cloth), 12-grasp(yellow_cloth), 13-pick_up(yellow_cloth), 14-place(yellow_cloth, middle_of_the_table), 15-place(yellow_cloth, middle_of_the_table), 16-move_to(red_cloth), 17-grasp(red_cloth), 18-pick_up(red_cloth), 19-place(red_cloth, middle_of_the_table), 20-place(red_cloth, middle_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_38381_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing clothes on a box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, yellow_cloth), 2-grasp(yellow_cloth), 3-pick_up(yellow_cloth), 4-move_to(yellow_cloth, box), 5-place(yellow_cloth, box), 6-move_to(none, pink_cloth), 7-grasp(pink_cloth), 8-pick_up(pink_cloth), 9-move_to(pink_cloth, box), 10-place(pink_cloth, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_39667_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove fruits from bowls and place them on a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, banana), 2-grasp(banana), 3-pick_up(banana), 4-move_to(banana, table), 5-place(banana, table), 6-move_to(none, strawberry), 7-grasp(strawberry), 8-pick_up(strawberry), 9-move_to(strawberry, table), 10-place(strawberry, table), 11-move_to(none, pear), 12-grasp(pear), 13-pick_up(pear), 14-move_to(pear, table), 15-place(pear, table), 16-move_to(none, first_yellow_ball), 17-grasp(first_yellow_ball), 18-pick_up(first_yellow_ball), 19-move_to(first_yellow_ball, table), 20-place(first_yellow_ball, table), 21-move_to(none, porous_ball), 22-grasp(porous_ball), 23-pick_up(porous_ball), 24-move_to(porous_ball, table), 25-place(porous_ball, table), 26-move_to(none, second_yellow_ball), 27-grasp(second_yellow_ball), 28-pick_up(second_yellow_ball), 29-move_to(second_yellow_ball, table), 30-place(second_yellow_ball, table), 31-move_to(none, green_ball), 32-grasp(green_ball), 33-pick_up(green_ball), 34-move_to(green_ball, table), 35-place(green_ball, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_40533_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing colored lego bricks into a bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, yellow_lego_brick), 2-grasp(yellow_lego_brick), 3-pick_up(yellow_lego_brick), 4-move_to(yellow_lego_brick, bowl), 5-place(yellow_lego_brick, bowl), 6-move_to(none, blue_lego_brick), 7-grasp(blue_lego_brick), 8-pick_up(blue_lego_brick), 9-move_to(blue_lego_brick, bowl), 10-place(blue_lego_brick, bowl), 11-move_to(none, green_lego_brick), 12-grasp(green_lego_brick), 13-pick_up(green_lego_brick), 14-move_to(green_lego_brick, bowl), 15-place(green_lego_brick, bowl), 16-move_to(none, red_lego_brick), 17-grasp(red_lego_brick), 18-pick_up(red_lego_brick), 19-move_to(red_lego_brick, bowl), 20-place(red_lego_brick, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_40868_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put all the cloth in a storage box on the table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, green_cloth), 2-grasp(green_cloth), 3-pick_up(green_cloth), 4-move_to(green_cloth, table), 5-place(green_cloth, table), 6-move_to(none, white_cloth), 7-grasp(white_cloth), 8-pick_up(white_cloth), 9-move_to(white_cloth, table), 10-place(white_cloth, table), 11-move_to(none, yellow_cloth), 12-grasp(yellow_cloth), 13-pick_up(yellow_cloth), 14-move_to(yellow_cloth, table), 15-place(yellow_cloth, table), 16-move_to(none, pink_cloth), 17-grasp(pink_cloth), 18-pick_up(pink_cloth), 19-move_to(pink_cloth, table), 20-place(pink_cloth, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_41342_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning up a countertop by discarding paper scraps into a bin> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, paper_scraps_on_the_countertop), 2-grasp(first_paper_scrap), 3-pick_up(first_paper_scrap), 4-move_to(first_paper_scrap, bin), 5-place(first_paper_scrap, bin), 6-move_to(none, other_paper_scrap_on_the_countertop), 7-grasp(second_paper_scrap), 8-pick_up(second_paper_scrap), 9-move_to(second_paper_scrap, bin), 10-place(second_paper_scrap, bin), 11-move_to(none, other_paper_scrap_on_the_countertop), 12-grasp(third_paper_scrap), 13-pick_up(third_paper_scrap), 14-move_to(third_paper_scrap, bin), 15-place(third_paper_scrap, bin), 16-move_to(none, other_paper_scrap_on_the_countertop), 17-grasp(fourth_paper_scrap), 18-pick_up(fourth_paper_scrap), 19-move_to(fourth_paper_scrap, bin), 20-place(fourth_paper_scrap, bin), 21-move_to(none, other_paper_scrap_on_the_countertop), 22-grasp(fifth_paper_scrap), 23-pick_up(fifth_paper_scrap), 24-move_to(fifth_paper_scrap, bin), 25-place(fifth_paper_scrap, bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_41625_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing all objects to the center of the table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, yellow_cloth), 2-grasp(yellow_cloth), 3-pick_up(yellow_cloth), 4-move_to(yellow_cloth, center), 5-place(yellow_cloth, center), 6-move_to(none, white_rope), 7-grasp(white_rope), 8-pick_up(white_rope), 9-move_to(white_rope, center), 10-place(white_rope, center), 11-move_to(none, toy_apple), 12-grasp(toy_apple), 13-pick_up(toy_apple), 14-move_to(toy_apple, center), 15-place(toy_apple, center), 16-move_to(none, white_cloth), 17-grasp(white_cloth), 18-pick_up(white_cloth), 19-move_to(white_cloth, center), 20-place(white_cloth, center), 21-move_to(none, pink_cloth), 22-grasp(pink_cloth), 23-pick_up(pink_cloth), 24-move_to(pink_cloth, center), 25-place(pink_cloth, center)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_42787_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking cups and placing items on a plate> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(left_cup), 2-grasp(left_cup), 3-pick_up(left_cup), 4-move_to(left_cup, right_cup), 5-place(left_cup, right_cup), 6-move_to(none, bottle_of_sauce), 7-grasp(bottle_of_sauce), 8-pick_up(bottle_of_sauce), 9-move_to(bottle_of_sauce, plate), 10-place(sauce_bottle, plate), 11-move_to(none, white_bottle), 12-grasp(white_bottle), 13-pick_up(white_bottle), 14-move_to(white_bottle, plate), 15-place(white_bottle, plate), 16-move_to(none, second_white_bottle), 17-grasp(second_white_bottle), 18-pick_up(second_white_bottle), 19-move_to(second_white_bottle, plate), 20-place(second_white_bottle, plate), 21-move_to(none, green_toy), 22-grasp(green_toy), 23-pick_up(green_toy), 24-move_to(green_toy, plate), 25-place(green_toy, plate), 26-move_to(none, orange_toy), 27-grasp(orange_toy), 28-pick_up(orange_toy), 29-move_to(orange_toy, plate), 30-place(orange_toy, plate), 31-move_to(none, red_toy), 32-grasp(red_toy), 33-pick_up(red_toy), 34-move_to(red_toy, plate), 35-place(red_toy, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_43452_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing plush toys into pots and wiping the counter> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, blue_plush_toy), 2-grasp(blue_plush_toy), 3-pick_up(blue_plush_toy), 4-move_to(blue_plush_toy, drawers), 5-place(blue_plush_toy, drawers), 6-move_to(none, green_plush_toy), 7-grasp(green_plush_toy), 8-pick_up(green_plush_toy), 9-move_to(green_plush_toy, drawers), 10-place(green_plush_toy, drawers), 11-move_to(none, yellow_plush_toy), 12-grasp(yellow_plush_toy), 13-pick_up(yellow_plush_toy), 14-move_to(yellow_plush_toy, drawers), 15-place(yellow_plush_toy, drawers), 16-move_to(none, towel), 17-grasp(towel), 18-wipe(towel, stains, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_44217_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking cups> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_cup), 2-grasp(first_cup), 3-pick_up(first_cup), 4-place(first_cup, second_cup), 5-move_to(none, stacked_cups), 6-grasp(stacked_cups), 7-pick_up(stacked_cups), 8-move_to(stacked_cups, third_cup), 9-place(stacked_cups, third_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_44282_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pile clothes and a ring on top of a shirt> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(white_ring), 2-grasp(white_ring), 3-pick_up(white_ring), 4-move_to(white_ring, bottom_right_table), 5-place(ring, bottom_right_table), 6-move_to(none, red_toy), 7-grasp(red_toy), 8-pick_up(red_toy), 9-move_to(red_toy, bottom_right_table), 10-place(red_toy, bottom_right_table), 11-move_to(none, pink_cloth), 12-grasp(pink_cloth), 13-pick_up(pink_cloth), 14-move_to(pink_cloth, bottom_right_table), 15-place(pink_cloth, bottom_right_table), 16-move_to(none, white_cloth), 17-grasp(white_cloth), 18-pick_up(white_cloth), 19-move_to(white_cloth, bottom_right_table), 20-place(white_cloth, bottom_right_table), 21-move_to(none, green_cloth), 22-grasp(green_cloth), 23-pick_up(green_cloth), 24-move_to(green_cloth, bottom_right_table), 25-place(green_cloth, bottom_right_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_46733_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing lego blocks into a bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_lego_block), 2-grasp(first_lego_block), 3-pick_up(first_lego_block), 4-move_to(grasped_lego_block, bowl), 5-place(lego_block, bowl), 6-move_to(none, second_lego_block), 7-grasp(second_lego_block), 8-pick_up(second_lego_block), 9-move_to(grasped_lego_block, bowl), 10-place(second_lego_block, bowl), 11-move_to(none, third_lego_block), 12-grasp(third_lego_block), 13-pick_up(third_lego_block), 14-move_to(grasped_lego_block, bowl), 15-place(lego_block, bowl), 16-move_to(none, fourth_lego_block), 17-grasp(fourth_lego_block), 18-pick_up(fourth_lego_block), 19-move_to(grasped_lego_block, bowl), 20-place(lego_block, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_50228_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving clothes from a box to a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, pink_clothes), 2-grasp(pink_clothes), 3-pick_up(pink_clothes), 4-move_to(pink_clothes, table), 5-place(pink_clothes, table), 6-move_to(mome, peach_clothes), 7-grasp(peach_clothes), 8-pick_up(peach_clothes), 9-move_to(peach_clothes, table), 10-place(peach_clothes, table), 11-move_to(none, green_clothes), 12-grasp(green_clothes), 13-pick_up(green_clothes), 14-move_to(green_clothes, table), 15-place(green_clothes, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_56407_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move clothes to the top of a box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, orange_colored_towel), 2-grasp(orange_colored_towel), 3-pick_up(orange_colored_towel), 4-move_to(orange_colored_towel, box), 5-place(orange_colored_towel, box), 6-move_to(none, yellow_colored_towel), 7-grasp(yellow_colored_towel), 8-pick_up(yellow_colored_towel), 9-move_to(yellow_colored_towel, box), 10-place(yellow_colored_towel, box), 11-move_to(none, pink_colored_towel), 12-grasp(pink_colored_towel), 13-pick_up(pink_colored_towel), 14-move_to(pink_colored_towel, box), 15-place(pink_colored_towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_56694_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing bottles into a bag> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_bottle), 2-grasp(first_bottle), 3-pick_up(first_bottle), 4-move_to(first_bottle, bag), 5-place(first_bottle, bag), 6-move_to(second_bottle), 7-grasp(second_bottle), 8-pick_up(second_bottle), 9-move_to(second_bottle, bag), 10-place(second_bottle, bag), 11-move_to(none, third_bottle), 12-grasp(third_bottle), 13-pick_up(third_bottle), 14-move_to(third_bottle, bag), 15-place(third_bottle, bag), 16-move_to(none, fourth_bottle), 17-grasp(fourth_bottle), 18-pick_up(fourth_bottle), 19-move_to(fourth_bottle, bag), 20-place(fourth_bottle, bag), 21-move_to(none, fifth_bottle), 22-grasp(fifth_bottle), 23-pick_up(fifth_bottle), 24-move_to(fifth_bottle, bag), 25-place(fifth_bottle, bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_56917_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding and spreading items on a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, white_cloth), 2-grasp(white_cloth), 3-pick_up(white_cloth), 4-move_to(cloth, left_side_of_the_table), 5-place(cloth, left_side_of_the_table), 6-move_to(none, pink_cloth), 7-grasp(pink_cloth), 8-pick_up(pink_cloth), 9-move_to(cloth, left_side_of_the_table), 10-place(cloth, left_side_of_the_table), 11-move_to(green_cloth), 12-grasp(green_cloth), 13-pick_up(green_cloth), 14-move_to(cloth, right_side_of_the_table), 15-place(cloth, right_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_57907_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move orange food into a bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_orange_food), 2-grasp(first_orange_food), 3-pick_up(first_orange_food), 4-move_to(first_orange_food, bowl), 5-place(first_orange_food, bowl), 6-move_to(none, second_orange_food), 7-grasp(second_orange_food), 8-pick_up(second_orange_food), 9-move_to(second_orange_food, bowl), 10-place(second_orange_food, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_58165_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pile clothes and rope onto a white cloth> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, white_rope), 2-grasp(white_rope), 3-pick_up(white_rope), 4-move_to(white_rope, white_cloth), 5-place(white_rope, white_cloth), 6-move_to(none, peach_cloth), 7-grasp(peach_cloth), 8-pick_up(peach_cloth), 9-place(peach_cloth, white_cloth), 10-move_to(none, yellow_cloth), 11-grasp(yellow_cloth), 12-pick_up(yellow_cloth), 13-place(yellow_cloth, peach_cloth), 14-move_to(pink_cloth), 15-grasp(pink_cloth), 16-pick_up(pink_cloth), 17-place(pink_cloth, yellow_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_61744_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove all blocks from a bowl and place them on the table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(orange_block), 2-grasp(orange_block), 3-pick_up(orange_block), 4-place(orange_block, table), 5-move_to(green_block), 6-grasp(green_block), 7-pick_up(green_block), 8-place(green_block, table), 9-move_to(yellow_block), 10-grasp(yellow_block), 11-pick_up(yellow_block), 12-place(yellow_block, table), 13-move_to(orange_block), 14-grasp(orange_block), 15-pick_up(orange_block), 16-place(orange_block, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_62778_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking waste bins> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_waste_bin), 2-grasp(first_waste_bin), 3-pick_up(grasped_waste_bin), 4-move_to(grasped_waste_bin, second_bin), 5-place(first_bin, second_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_64654_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing bottles and dolls into a plastic bag> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, purple_bottle), 2-grasp(purple_bottle), 3-pick_up(purple_bottle), 4-place(purple_bottle, plastic_bag), 5-move_to(none, yellow_bottle), 6-grasp(yellow_bottle), 7-pick_up(yellow_bottle), 8-place(yellow_bottle, plastic_bag), 9-move_to(none, orange_bottle), 10-grasp(orange_bottle), 11-pick_up(orange_bottle), 12-place(orange_bottle, plastic_bag), 13-move_to(none, brown_doll), 14-grasp(brown_doll), 15-pick_up(brown_doll), 16-place(brown_doll, plastic_bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_65036_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing bottles into a bin and closing the lid> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_bottle), 2-grasp(first_bottle), 3-pick_up(first_bottle), 4-move_to(first_bottle, bin), 5-place(first_bottle, bin), 6-move_to(none, second_bottle), 7-grasp(second_bottle), 8-pick_up(second_bottle), 9-move_to(second_bottle, bin), 10-place(second_bottle, bin), 11-grasp(bin_lid), 12-push(bin_lid, bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_65545_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a black pot and uncovering silver pots> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, lid), 2-grasp(lid), 3-pick_up(lid), 4-move_to(lid, black_pot), 5-place(lid, black_pot), 6-move_to(none, smaller_silver_pot), 7-grasp(smaller_silver_pot), 8-pick_up(smaller_silver_pot), 9-place(smaller_silver_pot, table), 10-move_to(none, larger_silver_pot), 11-grasp(larger_silver_pot), 12-pick_up(larger_silver_pot), 13-place(larger_silver_pot, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_69118_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a plushy and bottles on a plate> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, plushy), 2-grasp(plushy), 3-pick_up(plushy), 4-place(plushy, plate), 5-move_to(none, orange_bottle), 6-grasp(orange_bottle), 7-pick_up(orange_bottle), 8-place(orange_bottle, plate), 9-move_to(none, white_bottle), 10-grasp(white_bottle), 11-pick_up(white_bottle), 12-place(white_bottle, plate), 13-move_to(red_bottle), 14-grasp(red_bottle), 15-pick_up(red_bottle), 16-place(red_bottle, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_71296_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring garlic bulbs from a bowl to a countertop> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, glass_bowl), 2-grasp(first_garlic_bulb), 3-pick_up(first_garlic_bulb), 4-move_to(first_garlic_bulb, countertop), 5-place(first_garlic_bulb, countertop), 6-move_to(none, bowl), 7-grasp(second_garlic_bulb), 8-pick_up(second_garlic_bulb), 9-move_to(second_garlic_bulb, countertop), 10-place(second_garlic_bulb, countertop), 11-move_to(none, bowl), 12-grasp(third_garlic_bulb), 13-pick_up(third_garlic_bulb), 14-move_to(third_garlic_bulb, countertop), 15-place(third_garlic_bulb, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_71877_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a table by placing items onto a plate> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, small_white_bottle), 2-grasp(small_white_bottle), 3-pick_up(small_white_bottle), 4-move_to(white_bottle, plate), 5-place(white_bottle, plate), 6-move_to(none, orange_labeled_bottle), 7-grasp(orange_labeled_bottle), 8-pick_up(orange_labeled_bottle), 9-move_to(orange_labeled_bottle, plate), 10-place(orange_labeled_bottle, plate), 11-move_to(none, orange_ball), 12-grasp(orange_ball), 13-pick_up(orange_ball), 14-move_to(orange_ball, plate), 15-place(orange_ball, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_73027_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a t-shirt on the back of a chair> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, t-shirt), 2-grasp(t-shirt), 3-pick_up(t-shirt), 4-move_to(t-shirt, chair), 5-place(t-shirt, chair)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_73078_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding towels> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_towel), 2-grasp(first_towel), 3-fold(under_side_of_first_towel, upper_side_of_first_towel), 4-place(folded_towel, none), 5-move_to(none, second_towel), 6-grasp(second_towel), 7-fold(under_side_of_second_towel, upper_side_of_second_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_75625_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unstacking blocks> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, orange_block), 2-grasp(orange_block), 3-pick_up(orange_block), 4-move_to(orange_block, table), 5-place(orange_block, table), 6-move_to(none, green_block), 7-grasp(green_block), 8-pick_up(green_block), 9-move_to(green_block, table), 10-place(green_block, table), 11-move_to(none, blue_block), 12-grasp(blue_block), 13-pick_up(blue_block), 14-move_to(blue_block, table), 15-place(blue_block, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_77472_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving clothes from a box to a chair backrest> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_cloth), 2-grasp(first_cloth), 3-pick_up(first_cloth), 4-move_to(first_cloth, backrest), 5-place(first_cloth, backrest), 6-move_to(none, second_cloth), 7-grasp(second_cloth), 8-pick_up(second_cloth), 9-move_to(second_cloth, backrest), 10-place(second_cloth, backrest), 11-move_to(none, third_cloth), 12-grasp(third_cloth), 13-pick_up(third_cloth), 14-move_to(third_cloth, backrest), 15-place(third_cloth, backrest), 16-move_to(none, fourth_cloth), 17-grasp(fourth_cloth), 18-pick_up(fourth_cloth), 19-move_to(fourth_cloth, backrest), 20-place(fourth_cloth, backrest)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_78248_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a cloth out of a basket and hanging it on the back of a chair> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, cloth_in_basket), 2-grasp(cloth), 3-pick_up(cloth), 4-move_to(cloth, chair), 5-place(cloth, back_of_chair)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_78486_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place fruit and vegetables into bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, orange), 2-grasp(orange), 3-pick_up(orange), 4-move_to(orange, bowl), 5-place(orange, bowl), 6-move_to(none, lime), 7-grasp(lime), 8-pick_up(lime), 9-move_to(lime, bowl), 10-place(lime, bowl), 11-move_to(none, banana), 12-grasp(banana), 13-pick_up(banana), 14-move_to(banana, other_bowl), 15-place(banana, other_bowl), 16-move_to(none, last_lime), 17-grasp(last_lime), 18-pick_up(last_lime), 19-move_to(last_lime, other_bowl), 20-place(last_lime, other_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_79467_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place fruits and vegetables in two separate bowls> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, lime), 2-grasp(lime), 3-pick_up(lime), 4-move_to(lime, left_bowl), 5-place(lime, left_bowl), 6-move_to(none, banana), 7-grasp(banana), 8-pick_up(banana), 9-move_to(banana, left_bowl), 10-place(banana, left_bowl), 11-move_to(none, orange), 12-grasp(orange), 13-pick_up(orange), 14-place(orange, left_bowl), 15-move_to(orange, left_bowl), 16-move_to(none, apple), 17-grasp(apple), 18-pick_up(apple), 19-move_to(apple, left_bowl), 20-place(apple, left_bowl), 21-move_to(none, carrot), 22-grasp(carrot), 23-pick_up(carrot), 24-move_to(carrot, right_bowl), 25-place(carrot, right_bowl), 26-move_to(none, red_pepper), 27-grasp(red_pepper), 28-pick_up(red_pepper), 29-move_to(red_pepper, right_bowl), 30-place(red_pepper, right_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_79694_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cup and a basket from the top of a microwave to the table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, cup), 2-grasp(cup), 3-pick_up(cup), 4-move_to(cup, table), 5-place(cup, table), 6-move_to(none, basket), 7-grasp(basket), 8-pick_up(basket), 9-move_to(basket, table), 10-place(basket, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_83207_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the apple in the upper right corner and clean the building blocks on the table before placing them in the bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, apple), 2-grasp(apple), 3-pick_up(apple), 4-move_to(apple, top_right_corner_of_the_countertop), 5-place(apple, top_right_corner_of_the_countertop), 6-move_to(none, first_green_block), 7-grasp(first_green_block), 8-pick_up(first_green_block), 9-move_to(first_green_block, bowl), 10-place(first_green_blockttle, bowl), 11-move_to(none, second_green_block), 12-grasp(second_green_block), 13-pick_up(second_green_block), 14-move_to(second_green_block, bowl), 15-place(second_green_block, bowl), 16-move_to(none, third_green_block), 17-grasp(third_green_block), 18-pick_up(third_green_block), 19-move_to(third_green_block, bowl), 20-place(third_green_blockk, bowl), 21-move_to(none, first_yellow_block), 22-grasp(first_yellow_block), 23-pick_up(first_yellow_block), 24-move_to(first_yellow_block, bowl), 25-place(first_yellow_block, bowl), 26-move_to(none, second_yellow_block), 27-grasp(second_yellow_block), 28-pick_up(second_yellow_block), 29-move_to(second_yellow_block, bowl), 30-place(second_yellow_block, bowl), 31-move_to(none, first_orange_block), 32-grasp(first_orange_block), 33-pick_up(first_orange_block), 34-move_to(first_orange_block, bowl), 35-place(first_orange_block, bowl), 36-move_to(none, second_orange_block), 37-grasp(second_orange_block), 38-pick_up(second_orange_block), 39-move_to(second_orange_block, bowl), 40-place(second_orange_block, bowl), 41-move_to(none, third_orange_block), 42-grasp(third_orange_block), 43-pick_up(third_orange_block), 44-move_to(third_orange_block, bowl), 45-place(third_orange_block, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_84631_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a white and blue towel in a cabinet> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, white_and_blue_towel), 2-grasp(white_and_blue_towel), 3-pick_up(white_and_blue_towel), 4-move_to(white_and_blue_towel, middle_compartment_of_the_cabinet), 5-place(white_and_blue_towel, middle_compartment)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_84755_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing bottles and small containers into a plastic bag> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, yellow_container), 2-grasp(yellow_container), 3-pick_up(yellow_container), 4-move_to(yellow_container, bag), 5-place(yellow_container, bag), 6-move_to(none, red_container), 7-grasp(red_container), 8-pick_up(red_container), 9-move_to(red_container, bag), 10-place(red_container, bag), 11-move_to(none, brown_bottle), 12-grasp(brown_bottle), 13-pick_up(brown_bottle), 14-move_to(brown_bottle, bag), 15-place(brown_bottle, bag), 16-move_to(none, white_bottle), 17-grasp(white_bottle), 18-pick_up(white_bottle), 19-move_to(white_bottle, bag), 20-place(white_bottle, bag), 21-move_to(none, green_container), 22-grasp(green_container), 23-pick_up(green_container), 24-move_to(green_container, bag), 25-place(green_container, bag), 26-move_to(none, orange_container), 27-grasp(orange_container), 28-pick_up(orange_container), 29-move_to(orange_container, bag), 30-place(orange_container, bag), 31-move_to(none, red_bottle), 32-grasp(red_bottle), 33-pick_up(red_bottle), 34-move_to(red_bottle, bag), 35-place(red_bottle, bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_85099_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing bottles onto a plate and stacking boxes on a surface> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(first_bottles), 2-grasp(first_bottles), 3-pick_up(first_bottles), 4-move_to(first_bottles, plate), 5-place(first_bottles, plate), 6-move_to(none, second_bottles), 7-grasp(second_bottles), 8-pick_up(second_bottles), 9-move_to(second_bottles, plate), 10-place(second_bottles, plate), 11-move_to(none, third_bottle), 12-grasp(third_bottle), 13-pick_up(third_bottle), 14-move_to(third_bottle, plate), 15-place(third_bottle, plate), 16-move_to(none, first_box), 17-grasp(first_box), 18-pick_up(first_box), 19-move_to(first_box, grey_surface), 20-place(first_box, grey_surface), 21-move_to(none, second_box), 22-grasp(second_box), 23-pick_up(second_box), 24-move_to(second_box, grey_surface), 25-place(second_box, grey_surface)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_86196_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place garlic cloves into a glass dish> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, firist_ garlic_cloves), 2-grasp(first_garlic_clove), 3-pick_up(first_garlic_clove), 4-move_to(first_garlic_clove, glass_dish), 5-place(first_garlic_clove, glass_dish), 6-move_to(none, second_garlic_cloves), 7-grasp(second_garlic_clove), 8-pick_up(second_garlic_clove), 9-move_to(second_garlic_clove, glass_dish), 10-place(second_garlic_clove, glass_dish), 11-move_to(none, third_garlic_cloves), 12-grasp(third_garlic_clove), 13-pick_up(third_garlic_clove), 14-move_to(third_garlic_clove, glass_dish), 15-place(third_garlic_clove, glass_dish)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_90872_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stack the cups together> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_cup), 2-grasp(first_cup), 3-pick_up(first_cup), 4-move_to(first_cup, second_cup), 5-place(first_cup, second_cup), 6-grasp(stacked_cups), 7-pick_up(stacked_cups), 8-move_to(stacked_cups, third_cup), 9-place(stacked_cups, third_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-9_task-99_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing crumpled paper into a trash can> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, crumpled_paper), 2-grasp(crumpled_paper), 3-pick_up(crumpled_paper), 4-move_to(crumpled_paper, trash_can), 5-place(crumpled_paper, trash_can), 6-move_to(none, crumpled_paper), 7-grasp(crumpled_paper), 8-pick_up(crumpled_paper), 9-move_to(crumpled_paper, trash_can), 10-place(crumpled_paper, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-50_task-92_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing garbages into a trash can> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, bottom_garbage), 2-grasp(bottom_garbage), 3-pick_up(bottom_garbage), 4-move_to(bottom_garbage, trash_can), 5-place(bottom_garbage, trash_can), 6-move_to(none, top_garbage), 7-grasp(top_garbage), 8-pick_up(top_garbage), 9-move_to(top_garbage, trash_can), 10-place(top_garbage, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-53_task-92_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing garbage into a trash can> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_garbage), 2-grasp(first_garbage), 3-pick_up(first_garbage), 4-move_to(first_garbage, trash_can), 5-place(first_garbage, trash_can), 6-move_to(none, second_garbage), 7-grasp(second_garbage), 8-pick_up(second_garbage), 9-move_to(second_garbage, trash_can), 10-place(second_garbage, trash_can), 11-move_to(none, third_garbage), 12-grasp(third_garbage), 13-pick_up(third_garbage), 14-move_to(third_garbage, trash_can), 15-place(third_garbage, trash_can), 16-move_to(none, fourth_garbage), 17-grasp(fourth_garbage), 18-pick_up(fourth_garbage), 19-move_to(fourth_garbage, trash_can), 20-place(fourth_garbage, trash_can), 21-move_to(none, last_garbage), 22-grasp(last_garbage), 23-pick_up(last_garbage), 24-move_to(last_garbage, trash_can), 25-place(last_garbage, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/RDT-FT_imgs_1_pick_out_clip_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <removing clips from a box and placing them on a table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-left:no_ops, right:grasp(first_clip), 2-left:no_ops, right:pick_up(first_clip), 3-left:no_ops, right:move_to(first_clip, box_left), 4-left:no_ops, right:place(first_clip, table), 5-left:no_ops, right:move_to(none, box), 6-left:no_ops, right:grasp(second_clip), 7-left:no_ops, right:pick_up(second_clip), 8-left:no_ops, right:move_to(second_clip, box_left), 9-left:no_ops, right:place(second_clip, table), 10-left:move_to(none, third_clip), right:no_ops, 11-left:grasp(third_clip), right:no_ops, 12-left:pick_up(third_clip), right:no_ops, 13-left:move_to(third_clip, left_box), right:no_ops, 14-left:place(third_clip, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/RDT-FT_imgs_1_gather_paper_ball_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <throwing paper balls into a trash can> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, furthest_paper_ball), 2-grasp(furthest_paper_ball), 3-pick_up(furthest_paper_ball), 4-move_to(paper_ball, trash_can), 5-place(paper_ball, trash_can), 6-move_to(none, nearest_paper_ball), 7-grasp(nearest_paper_ball), 8-pick_up(nearest_paper_ball), 9-move_to(paper_ball, trash_can), 10-place(paper_ball, trash_can), 11-move_to(none, second_nearest_paper_ball), 12-grasp(second_nearest_paper_ball), 13-pick_up(second_nearest_paper_ball), 14-move_to(paper_ball, trash_can), 15-place(paper_ball, trash_can), 16-move_to(none, third_furthest_paper_ball), 17-grasp(third_furthest_paper_ball), 18-pick_up(third_furthest_paper_ball), 19-move_to(paper_ball, trash_can), 20-place(paper_ball, trash_can), 21-move_to(none, last_paper_ball), 22-grasp(last_paper_ball), 23-pick_up(last_paper_ball), 24-move_to(paper_ball, trash_can), 25-place(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32564_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a red rectangular block onto a red cube> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, left_red_rectangular_block), 2-grasp(left_red_rectangular_block), 3-pick_up(left_red_rectangular_block), 4-move_to(left_red_rectangular_block, right_red_cube_top), 5-place(red_rectangular_block, red_cube)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_51_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pour the cups of liquid from the red plate into the blue and yellow cups> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, left_liquid_cup), 2-grasp(left_liquid_cup), 3-pick_up(left_liquid_cup), 4-move_to(left_liquid_cup, blue_cup), 5-pour(left_liquid_cup, liquid, blue_cup), 6-move_to(cup, original_position), 7-place(cup, red_plate), 8-move_to(none, right_liquid_cup_on_red_plate), 9-grasp(right_liquid_cup_on_red_plate), 10-pick_up(right_liquid_cup_on_red_plate), 11-move_to(right_liquid_cup_on_red_plate, yellow_cup), 12-pour(second_liquid_cup, liquid, yellow_cup), 13-move_to(cup, original_position), 14-place(cup, red_plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_9560_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring chili pepper from a bowl to a pot and covering/uncovering pots> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, red_spoon_handle), 2-grasp(red_spoon_handle), 3-pick_up(red_spoon_handle), 4-scoop(spoon, chili_pepper, bowl), 5-move_to(spoon, small_pot), 6-pour(spoon, chili pepper, small_pot), 7-move_to(none, lid_of_the_small_pot), 8-grasp(lid_of_the_small_pot), 9-pick_up(lid_of_the_small_pot), 10-move_to(lid, small_pot), 11-place(lid, small_pot), 12-move_to(none, large_pot), 13-grasp(lid), 14-pick_up(lid), 15-move_to(lid, table), 16-place(lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12332_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <organizing various items on a table, including placing containers on a plate, sachets in a box, and stacking boxes> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, orange_container), 2-grasp(orange_container), 3-pick_up(orange_container), 4-move_to(orange_container, white_plate), 5-place(orange_container, white_plate), 6-move_to(none, blue_container), 7-grasp(blue_container), 8-pick_up(blue_container), 9-place(blue_container, white_plate), 10-move_to(none, green_container), 11-grasp(green_container), 12-pick_up(green_container), 13-place(green_container, white_plate), 14-move_to(none, yellow_container), 15-grasp(yellow_container), 16-pick_up(yellow_container), 17-place(yellow_container, white_plate), 18-move_to(none, orange_sachet), 19-grasp(orange_sachet), 20-pick_up(orange_sachet), 21-place(orange_sachet, brown_box), 22-move_to(none, second_orange_sachet), 23-grasp(second_orange_sachet), 24-pick_up(second_orange_sachet), 25-place(second_orange_sachet, brown_box), 26-move_to(none, first_box), 27-grasp(first_box), 28-pick_up(first_box), 29-place(first_box, another_box), 30-move_to(none, second_box), 31-grasp(second_box), 32-pick_up(second_box), 33-place(second_box, another_box), 34-move_to(none, cup), 35-grasp(cup), 36-pick_up(cup), 37-move_to(cup, near_box), 38-place(cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12362_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <organizing bottles and cups on a plate> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, bottle), 2-grasp(bottle), 3-pick_up(bottle), 4-move_to(bottle, plate), 5-place(bottle, plate), 6-move_to(none, second_bottle), 7-grasp(second_bottle), 8-pick_up(second_bottle), 9-move_to(second_bottle, plate), 10-place(second_bottle, plate), 11-move_to(third_bottle), 12-grasp(third_bottle), 13-pick_up(third_bottle), 14-move_to(third_bottle, plate), 15-place(third_bottle, plate), 16-move_to(none, left_plastic_cups), 17-grasp(left_plastic_cups), 18-pick_up(left_plastic_cups), 19-move_to(left_plastic_cups, right_plastic_cups), 20-place(left_plastic_cups, right_plastic_cups), 21-move_to(none, orange_bottle), 22-grasp(orange_bottle), 23-pick_up(orange_bottle), 24-move_to(orange_bottle, plate), 25-place(orange_bottle, plate), 26-move_to(none, green_bottle), 27-grasp(green_bottle), 28-pick_up(green_bottle), 29-move_to(green_bottle, plate), 30-place(green_bottle, plate), 31-move_to(none, red_cup), 32-grasp(red_cup), 33-pick_up(red_cup), 34-move_to(red_cup, plate), 35-place(red_cup, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_12580_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing towels in a basket and small pen in a mug> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, green_towel), 2-grasp(green_towel), 3-pick_up(green_towel), 4-move_to(green_towel, basket), 5-place(green_towel, basket), 6-move_to(none, white_towel), 7-grasp(white_towel), 8-pick_up(white_towel), 9-move_to(white_towel, basket), 10-place(white_towel, basket), 11-move_to(none, yellow_towel), 12-grasp(yellow_towel), 13-pick_up(yellow_towel), 14-move_to(yellow_towel, basket), 15-place(yellow_towel, basket), 16-move_to(none, pen), 17-grasp(penl), 18-pick_up(pen), 19-move_to(pen, mugs), 20-place(pen, mugs)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_15582_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pile up cloths and other objects> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, pink_cloth), 2-grasp(pink_cloth), 3-pick_up(pink_cloth), 4-move_to(pink_cloth, top_right_table), 5-place(pink_cloth, top_right_table), 6-move_to(none, first_white_cloth), 7-grasp(first_white_cloth), 8-pick_up(first_white_cloth), 9-move_to(first_white_cloth, top_pink_cloth), 10-place(first_white_cloth, top_pink_cloth), 11-move_to(none, second_white_cloth), 12-grasp(second_white_cloth), 13-pick_up(second_white_cloth), 14-move_to(second_white_cloth, top_white_cloth), 15-place(second_white_cloth, top_white_cloth), 16-move_to(none, orange_cloth), 17-grasp(orange_cloth), 18-pick_up(orange_cloth), 19-move_to(orange_cloth, top_white_cloth), 20-place(orange_cloth, top_white_cloth), 21-move_to(none, green_cloth), 22-grasp(green_cloth), 23-pick_up(green_cloth), 24-move_to(green_cloth, top_orange_cloth), 25-place(green_cloth, top_orange_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_17987_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <packing a box with plastic wrap and a bottle> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, big_plastic_wrap), 2-grasp(big_plastic_wrap), 3-pick_up(big_plastic_wrap), 4-move_to(big_plastic_wrap, box), 5-place(big_plastic_wrap, box), 6-move_to(none, first_small_plastic_wrap), 7-grasp(first_small_plastic_wrap), 8-pick_up(first_small_plastic_wrap), 9-move_to(first_small_plastic_wrap, box), 10-place(first_small_plastic_wrap, box), 11-move_to(none, second_small_plastic_wrap), 12-grasp(second_small_plastic_wrap), 13-pick_up(second_small_plastic_wrap), 14-move_to(second_small_plastic_wrap, box), 15-place(second_small_plastic_wrap, box), 16-move_to(none, bottle), 17-grasp(bottle), 18-pick_up(bottle), 19-move_to(bottle, box), 20-place(bottle, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_18136_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move the shoes from the first layer of the shelf to the second floor> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, left_shoes), 2-grasp(shoes), 3-pick_up(shoes), 4-move_to(left_shoes, near_right_shoes), 5-place(left_shoes, near_right_shoes), 6-move_to(none, shoes), 7-grasp(shoes), 8-pick_up(shoes), 9-move_to(shoes, second_floor), 10-place(shoes, second_floor)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_21603_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a roll of white string into a cardboard box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_roll_of_string), 2-grasp(first_roll_of_string), 3-pick_up(first_roll_of_string), 4-move_to(first_roll_of_string, box), 5-place(first_roll_of_string, box), 6-move_to(none, second_roll_of_string), 7-grasp(second_roll_of_string), 8-pick_up(second_roll_of_string), 9-move_to(second_roll_of_string, box), 10-place(second_roll_of_string, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_21645_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a coil inside an open drawer and closing it> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, right_coil), 2-grasp(right_coil), 3-pick_up(right_coil), 4-move_to(right_coil, open_drawer), 5-place(right_coil, drawer), 6-move_to(none, middle_coil), 7-grasp(middle_coil), 8-pick_up(middle_coil), 9-move_to(middle_coil, open_drawer), 10-place(middle_coil, drawer), 11-left_to(none, middle_coil), 12-grasp(left_coil), 13-pick_up(left_coil), 14-move_to(left_coil, open_drawer), 15-place(left_coil, drawer), 16-move_to(none, drawer_handle), 17-grasp(drawer_handle), 18-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_22042_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <uncovering metal pots to the table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_pot), 2-grasp(lid_of_the_first_pot), 3-pick_up(lid_of_the_first_pot), 4-move_to(lid_of_the_first_pot, table), 5-place(lid_of_the_first_pot, table), 6-move_to(none, second_pot), 7-grasp(lid_of_the_second_pot), 8-pick_up(lid_of_the_second_pot), 9-move_to(lid_of_the_second_pot, table), 10-place(lid_of_the_second_pot, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_22357_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing garlic cloves from a bowl and placing them on the table> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, bowl_of_garlic_cloves), 2-grasp(garlic_clove), 3-pick_up(garlic_clove), 4-move_to(garlic_clove, table), 5-place(garlic_clove, table), 6-move_to(none, second_garlic_clove), 7-grasp(second_garlic_clove), 8-pick_up(second_garlic_clove), 9-move_to(second_garlic_clove, table), 10-place(second_garlic_clove, table), 11-move_to(none, third_garlic_clove), 12-grasp(third_garlic_clove), 13-pick_up(third_garlic_clove), 14-move_to(third_garlic_clove, table), 15-place(third_garlic_clove, table), 16-mmove_to(none, fourth_garlic_clove), 17-grasp(fourth_garlic_clove), 18-pick_up(fourth_garlic_clove), 19-move_to(fourth_garlic_clove, table), 20-place(fourth_garlic_clove, table), 21-move_to(none, last_garlic_clove), 22-grasp(last_garlic_clove), 23-pick_up(last_garlic_clove), 24-move_to(last_garlic_clove, table), 25-place(last_garlic_clove, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_30276_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put all the bottles in the plate> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, brown_bottle), 2-grasp(brown_bottle), 3-pick_up(brown_bottle), 4-move_to(brown_bottle, plate), 5-place(brown_bottle, plate), 6-move_to(none, orange_bottle), 7-grasp(orange_bottle), 8-pick_up(orange_bottle), 9-move_to(orange_bottle, plate), 10-place(orange_bottle, plate), 11-move_to(none, yellow_bottle), 12-grasp(yellow_bottle), 13-pick_up(yellow_bottle), 14-move_to(yellow_bottle, plate), 15-place(yellow_bottle, plate), 16-move_to(none, red_bottle), 17-grasp(red_bottle), 18-pick_up(red_bottle), 19-move_to(red_bottle, plate), 20-place(red_bottle, plate), 21-move_to(none, blue_bottle), 22-grasp(blue_bottle), 23-pick_up(blue_bottle), 24-move_to(blue_bottle, plate), 25-place(blue_bottle, plate), 26-move_to(none, pink_bottle), 27-grasp(pink_bottle), 28-pick_up(pink_bottle), 29-move_to(pink_bottle, plate), 30-place(pink_bottle, plate), 31-move_to(none, purple_bottle), 32-grasp(purple_bottle), 33-pick_up(purple_bottle), 34-move_to(purple_bottle, plate), 35-place(purple_bottle, plate), 36-move_to(none, green_bottle), 37-grasp(green_bottle), 38-pick_up(green_bottle), 39-move_to(green_bottle, plate), 40-place(green_bottle, plate), 41-move_to(none, cloth), 42-grasp(cloth), 43-pick_up(cloth), 44-move_to(cloth, plate), 45-place(cloth, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_32435_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove blocks from a bowl and place them around it> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, yellow_block), 2-grasp(yellow_block), 3-pick_up(yellow_block), 4-move_to(yellow_block, table), 5-place(yellow_block, table), 6-move_to(none, orange_block), 7-grasp(orange_block), 8-pick_up(orange_block), 9-move_to(orange_block, table), 10-place(orange_block, table), 11-move_to(none, second_orange_block), 12-grasp(second_orange_block), 13-pick_up(second_orange_block), 14-move_to(second_orange_block, table), 15-place(second_orange_block, table), 16-move_to(none, green_block), 17-grasp(green_block), 18-pick_up(green_block), 19-move_to(green_block, table), 20-place(green_block, table), 21-move_to(none, third_orange_block), 22-grasp(third_orange_block), 23-pick_up(third_orange_block), 24-move_to(third_orange_block, table), 25-place(third_orange_block, table), 26-move_to(none, second_green_block), 27-grasp(second_green_block), 28-pick_up(second_green_block), 29-move_to(second_green_block, table), 30-place(second_green_block, table), 31-move_to(none, yellow_and_orange_block), 32-grasp(yellow_and_orange_block), 33-pick_up(yellow_and_orange_block), 34-move_to(yellow_and_orange_block, table), 35-place(yellow_and_orange_block, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_37986_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unhanging towels and placing them on a chair, and then opening a door> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, yellow_towel), 2-grasp(yellow_towel), 3-pick_up(yellow_towel), 4-move_to(yellow_towel, chair), 5-place(yellow_towel, chair), 6-move_to(none, gray_towel), 7-grasp(gray_towel, none), 8-pick_up(gray_towel, none), 9-move_to(gray_towel, chair), 10-place(gray_towel, chair), 11-move_to(none, door), 12-grasp(door_handle), 13-pull(door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_39024_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <rearranging bottles on a desk and turning on a lamp> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, pink_bottle), 2-grasp(pink_bottle), 3-pick_up(pink_bottle), 4-move_to(pink_bottle, left), 5-place(pink_bottle, left), 6-move_to(none, yellow_bottle), 7-grasp(yellow_bottle), 8-pick_up(yellow_bottle), 9-move_to(yellow_bottle, left), 10-place(yellow_bottle, left), 11-move_to(none, lamp), 12-grasp(lamp), 13-press(none, switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_40533_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing colored lego bricks into a bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(yellow_lego_brick), 2-grasp(yellow_lego_brick), 3-pick_up(yellow_lego_brick), 4-move_to(yellow_lego_brick, bowl), 5-place(yellow_lego_brick, bowl), 6-move_to(none, blue_lego_brick), 7-grasp(blue_lego_brick), 8-pick_up(blue_lego_brick), 9-move_to(blue_lego_brick, bowl), 10-place(blue_lego_brick, bowl), 11-move_to(nonr, orange_lego_brick), 12-grasp(orange_lego_brick), 13-pick_up(orange_lego_brick), 14-move_to(orange_lego_brick, bowl), 15-place(orange_lego_brick, bowl), 16-move_to(none, green_lego_brick), 17-grasp(green_lego_brick), 18-pick_up(green_lego_brick), 19-move_to(green_lego_brick, bowl), 20-place(green_lego_brick, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_41424_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <packing plastic and a bottle into a box> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, piece_of_plastic_wrap), 2-grasp(piece_of_plastic_wrap), 3-pick_up(piece_of_plastic_wrap), 4-move_to(plastic_wrap, box), 5-place(plastic_wrap, box), 6-move_to(none, another_piece_of_plastic_wrap), 7-grasp(another_piece_of_plastic_wrap), 8-pick_up(another_piece_of_plastic_wrap), 9-move_to(plastic_wrap, box), 10-place(plastic_wrap, box), 11-move_to(none, paper_ball), 12-grasp(paper_ball), 13-pick_up(paper_ball), 14-move_to(paper_ball, box), 15-place(paper_ball, box), 16-move_to(none, bottle), 17-grasp(bottle), 18-pick_up(bottle), 19-move_to(bottle, box), 20-place(bottle, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_42704_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move the oranges from the black bowl to the green bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, black_pot_containing_the_orange_object), 2-grasp(orange_object), 3-pick_up(orange_object), 4-move_to(orange_object, bowl), 5-place(orange_object, bowl), 6-move_to(none, pot_containing_the_orange_objects), 7-grasp(another_orange_object), 8-pick_up(another_orange_object), 9-move_to(another_orange_object, bowl), 10-place(another_orange_object, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_43174_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking rings onto a wooden stick> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, first_orange_ring), 2-grasp(first_orange_ring), 3-pick_up(first_orange_ring), 4-move_to(first_orange_ring, stick), 5-place(first_orange_ring, stick), 6-move_to(none, second_orange_ring), 7-grasp(second_orange_ring), 8-pick_up(second_orange_ring), 9-move_to(second_orange_ring, stick), 10-place(second_orange_ring, stick), 11-move_to(none, third_orange_ring), 12-grasp(third_orange_ring), 13-pick_up(third_orange_ring), 14-move_to(third_orange_ring, stick), 15-place(third_orange_ring, stick), 16-move_to(none, fourth_orange_ring), 17-grasp(fourth_orange_ring), 18-pick_up(fourth_orange_ring), 19-move_to(fourth_orange_ring, stick), 20-place(fourth_orange_ring, stick), 21-move_to(none, fifth_orange_ring), 22-grasp(fifth_orange_ring), 23-pick_up(fifth_orange_ring), 24-move_to(fifth_orange_ring, stick), 25-place(fifth_orange_ring, stick), 26-move_to(none, first_red_ring), 27-grasp(first_red_ring), 28-pick_up(first_red_ring), 29-move_to(first_red_ring, second_stick), 30-place(first_red_ring, second_stick), 31-move_to(none, second_red_ring), 32-grasp(second_red_ring), 33-pick_up(second_red_ring), 34-move_to(second_red_ring, second_stick), 35-place(second_red_ring, second_stick), 36-move_to(none, third_red_ring), 37-grasp(third_red_ring), 38-pick_up(third_red_ring), 39-move_to(third_red_ring, second_stick), 40-place(third_red_ring, second_stick), 41-move_to(none, fouth_red_ring), 42-grasp(fouth_red_ring), 43-pick_up(fouth_red_ring), 44-move_to(fouth_red_ring, second_stick), 45-place(fouth_red_ring, second_stick), 46-move_to(none, yellow_ring), 47-grasp(yellow_ring), 48-pick_up(yellow_ring), 49-move_to(yellow_ring, stick), 50-place(yellow_ring, stick), 51-move_to(none, second_yellow_ring), 52-grasp(second_yellow_ring), 53-pick_up(second_yellow_ring), 54-move_to(second_yellow_ring, third_stick), 55-place(second_yellow_ring, third_stick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_44665_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning up a table by putting towels and marker and tape into containers> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, white_towel), 2-grasp(white_towel), 3-pick_up(white_towel), 4-move_to(white_towel, basket), 5-place(white_towel, basket), 6-move_to(none, marker), 7-grasp(marker), 8-pick_up(marker), 9-move_to(marker, cup), 10-place(marker, cup), 11-move_to(none, yellow_towel), 12-grasp(yellow_towel), 13-pick_up(yellow_towel), 14-move_to(yellow_towel, basket), 15-place(yellow_towel, basket), 16-move_to(tape), 17-grasp(tape), 18-pick_up(tape), 19-move_to(tape, cup), 20-place(tape, cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_45396_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a spatula and a spoon from a utensil holder> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, spatula_in_the_utensil_holder), 2-grasp(spatula), 3-pick_up(spatula), 4-move_to(spatula, counter), 5-place(spatula, counter), 6-move_to(none, spoon_in_the_utensil_holder), 7-grasp(spoon), 8-pick_up(spoon), 9-move_to(spoon, counter), 10-place(spoon, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_47405_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking clear plastic cups> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, bottom_right_cup), 2-grasp(bottom_right_cup), 3-pick_up(bottom_right_cup), 4-move_to(bottom_right_cup, top_right_cupr_cup), 5-place(bottom_right_cup, top_right_cupr_cup), 6-move_to(none, top_right_cupr_cup), 7-grasp(top_right_cupr_cup), 8-pick_up(top_right_cup), 9-move_to(top_right_cup, bottom_left_cup), 10-place(top_right_cup, bottom_left_cup), 11-move_to(none, bottom_left_cup), 12-grasp(bottom_left_cup), 13-pick_up(bottom_left_cup), 14-move_to(bottom_left_cup, top_left_cup), 15-place(bottom_left_cup, top_left_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_85_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing cans onto a tray> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, white_can), 2-grasp(white_can), 3-pick_up(white_can), 4-move_to(white_can, tray), 5-place(white_can, tray), 6-move_to(none, green_can), 7-grasp(green_can), 8-pick_up(green_can), 9-move_to(green_can, tray), 10-place(green_can, tray), 11-move_to(none, orange_can), 12-grasp(orange_can), 13-pick_up(orange_can), 14-move_yo(orange_can, tray), 15-place(orange_can, tray), 16-move_to(none, brown_can), 17-grasp(brown_can), 18-pick_up(brown_can), 19-move_to(brown_can, tray), 20-place(brown_can, tray)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_324_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking cups> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, orange_cup), 2-grasp(orange_cup), 3-pick_up(orange_cup), 4-move_to(orange_cup, blue_cup), 5-place(orange_cup, blue_cup), 6-move_to(none, purple_cup), 7-grasp(purple_cup), 8-pick_up(purple_cup), 9-move_to(purple_cup, blue_cup), 10-place(purple_cup, blue_cup), 11-move_to(none, green_cup), 12-grasp(green_cup), 13-pick_up(green_cup), 14-move_to(green_cup, blue_cup), 15-place(green_cup, blue_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/number/images/rtx_frames__new_85_85_droid#episode_316_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "number"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing cans onto a plate and then picking up chips and placing them into a bowl> as the goal, plan what steps to do to complete the goal?",
+    "gt_answer": "1-move_to(none, white_can), 2-grasp(white_can), 3-pick_up(white_can), 4-move_to(white_can, plate), 5-place(white_can, plate), 6-move_to(none, orange_can), 7-grasp(orange_can), 8-pick_up(orange_can), 9-move_to(orange_can, plate), 10-place(orange_can, plate), 11-move_to(none, brown_can), 12-grasp(brown_can), 13-pick_up(brown_can), 14-move_to(brown_can, plate), 15-place(brown_can, plate), 16-move_to(none, white_bag_of_chip), 17-grasp(white_bag_of_chip), 18-pick_up(white_bag_of_chip), 19-move_to(white_bag_of_chip, bowl), 20-place(white_bag_of_chip, bowl), 21-move_to(none, brown_bag_of_chip), 22-grasp(brown_bag_of_chip), 23-pick_up(brown_bag_of_chip), 24-move_to(brown_bag_of_chip, bowl), 25-place(brown_bag_of_chip, bowl), 26-move_to(none, orange_bag_of_chip), 27-grasp(orange_bag_of_chip), 28-pick_up(orange_bag_of_chip), 29-move_to(orange_bag_of_chip, bowl), 30-place(orange_bag_of_chip, bowl), 31-move_to(none, last_bag_of_chip), 32-grasp(last_bag_of_chip), 33-pick_up(last_bag_of_chip), 34-move_to(last_bag_of_chip, bowl), 35-place(last_bag_of_chip, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  }
+]
\ No newline at end of file
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+      "place(2,4)": []
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_32297",
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+      "move_to(none, 6)",
+      "grasp(6)",
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+      "move_to(6, 12)",
+      "place(6, 12)"
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+  },
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+    "id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_34009",
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+  },
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+  },
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+  },
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+  },
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+  },
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+    "id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_142358",
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+  },
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+  },
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+    "id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_134404",
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+  },
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+  },
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+  },
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+  },
+  {
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+  },
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+  },
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_183236",
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+  }
+]
\ No newline at end of file
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+++ b/3_generalized_planning/cross_object/physical_attribute/shape/questions.json
@@ -0,0 +1,2034 @@
+[
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-103_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place an object in the shape of a figure 8 in a figure-eight hole> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 12),5-place(1, 12)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-103_episode-2_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-34_episode-2_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a cube block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-34_episode-2_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20341_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the ring on the cylinder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4),4-move_to( 4, 5),5-place( 4, 5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20341.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_22765_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place a cylinder into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 4),5-place(1, 4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_22765.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_23742_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place a short cylinder onto an arch-shaped block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3,5),5-place(3, 5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_23742.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32596_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a sphere and placing it into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5, 4),5-place(5, 4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32596.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35360_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a ring onto a cylinder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 2),5-place(1, 2)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35360.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36064_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the red ellipsoid  on the ring> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 3),5-place(1, 3)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36064.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37318_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a triangle on a right rectangular block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 7),5-place(3,7)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37318.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_39726_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <put a ring into a cylinder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 2),5-place(1, 2)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_39726.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_6198_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <move a arched block from the table to the top left corner of a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, 4),5-place(3, 4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_6198.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52703_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <move an L-shaped block to the center of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2),4-move_to(2, 6),5-place(2, 6)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52703.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8276_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a short cylinder on a right rectangular block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5),4-move_to(5, 6),5-place(5, 6)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8276.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_54_18_dlr_edan_shared_control_converted_externally_to_rlds#episode_46_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the spherical object from a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_54_18_dlr_edan_shared_control_converted_externally_to_rlds#episode_46.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_30_57_fmb#episode_469_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Insert the blue concave object into the corresponding card slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(6),3-pick_up(3),4-turn(3, 6,1),5-move_to(3, 2),6-place(3, 1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_30_57_fmb#episode_469.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_10655_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a rope on a platform> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-pull(1, 2),5-place(1, 3)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_10655.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_19204_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a rope on a platform> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-pull(1, 8),5-place(1, 7)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_19204.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_20695_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <moving a hemispherical to the edge of a wall> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5),4-move_to(5, 8),5-place(5, 8)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_20695.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_27853_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <move a black cuboid from right to left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2),4-move_to(2, 5),5-place(2,4)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_27853.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_32297_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <moving a blue cylinder from right to left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6),4-move_to(6, 12),5-place(6, 12)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_32297.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_34009_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Move the yellow cylinder from right to left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,9),5-place(2,5)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_34009.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_39281_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <push a cylinder to the right and make it lie down> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp( bottle),3-pick_up( bottle),4-turn(bottle,down,lie_down),5-move_to( bottle,right_table),6-place(bottle,right_table)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_39281.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_71927_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the blue arch on top of the green arch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5, 6),5-place(5, 6)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_71927.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_83632_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a serving spoon on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5),4-move_to(5, table),5-place(5, 4)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_83632.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_84471_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <removing a black round and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(1, 2),2-grasp(1),3-pick_up(1),4-move_to(6, 5),5-place(6, 5)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_84471.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_90636_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <straighten a rope on a platform> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-pull(1, 4),5-place(1, 3)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_90636.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_green_onion_train_1017_155134_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a slender object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_green_onion_train_1017_155134.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_green_onion_train_1017_161445_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a slender object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_green_onion_train_1017_161445.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_green_pepper_val_1018_141017_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up an elliptical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_green_pepper_val_1018_141017.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1018_140738_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up an elliptical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1018_140738.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_142358_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a straight and long object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_142358.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_134514_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a straight and long object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_134514.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_egg_train_1022_105955_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a small oval object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_egg_train_1022_105955.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_can_val_1022_142109_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing trash into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_can_val_1022_142109.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_104056_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a rectangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_104056.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_val_1021_145034_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a rectangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_bread_slice_val_1021_145034.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1021_143413_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a slice of cheese> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1021_143413.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_bread_val_1016_141603_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a short stick shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 9),2-grasp(9),3-pick_up(9)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_bread_val_1016_141603.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1021_182906_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a the rotundity> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1021_182906.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_val_1022_101323_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a the rotundity object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_val_1022_101323.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1022_100630_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up the rotundity object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1022_100630.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_134404_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up the sphere object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_134404.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_133953_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the sphere object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_133953.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_135343_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the sphere object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_135343.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_pear_val_1021_174156_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a white oval object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 7),2-grasp(7),3-pick_up(7)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pear_val_1021_174156.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_155209_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a large cylindrical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_155209.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_152914_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a cylindrical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_152914.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_173608_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a disc-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_173608.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1017_155518_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a disc-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1017_155518.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_160706_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a disc-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_160706.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_142221_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a cone-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_142221.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_150805_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a small cone-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_150805.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_143843_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a small cone-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_143843.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_171444_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a flower shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_171444.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_180645_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a circular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_180645.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_104420_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a long bar shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_104420.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_103412_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a long bar shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_103412.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_102116_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a long bar shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_102116.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_163416_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a sheet-like object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_163416.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_toast_val_1017_141944_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a sheet-like object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_toast_val_1017_141944.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_163255_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a cuboid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, 9),2-grasp(9),3-pick_up(9),4-move_to(9, 1),5-place(9, 1),6-grasp(9),7-pick_up(9)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_163255.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1016_165120_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a triangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1016_165120.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_154229_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a triangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_154229.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_161255_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a triangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_161255.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_175918_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a yellow ellipse> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 7),2-grasp(7),3-pick_up(7)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_175918.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_180812_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a yellow cuboid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_180812.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_train_1017_165904_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Take an object with a curved hook shape> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(2),2-move_to(2, 1),3-place(2, 1),4-move_to(1, 2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_train_1017_165904.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_train_1017_165207_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Take an object with a curved hook shape> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1),4-move_to(3, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_train_1017_165207.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_in_pot_val_1016_140816_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a strip of cuboid object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(6),2-move_to(6, 1),3-place(6, 1),4-move_to(1, 6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_in_pot_val_1016_140816.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_104710_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(8),2-move_to(8, 1),3-place(8, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_104710.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_103917_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(2),2-move_to(2, 6),3-place(2, 6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_103917.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_val_1021_161426_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(bread_slice),2-move_to(bread_slice, drawer),3-place(bread_slice, drawer),4-move_to(none, Initial_position)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_val_1021_161426.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_val_1021_144039_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1),4-move_to(none, 3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_val_1021_144039.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_161028_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(8),2-move_to(8, 1),3-place(8, 1),4-move_to(none, 8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_161028.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_141124_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Grab objects to the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1),4-move_to(none, 3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_141124.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_donut_in_pot_val_1016_182102_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a donut into a potPick up a circular object and put it in the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(7),2-move_to(7, 1),3-place(7, 1),4-move_to(none, 7)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_donut_in_pot_val_1016_182102.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_donut_in_top_white_drawer_val_1021_110316_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a circular object and put it in the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(6),2-move_to(6, 2),3-place(6, 2),4-move_to(none, 6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_donut_in_top_white_drawer_val_1021_110316.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_111827_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing an elliptical object into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(5, 2),2-place(5, 2),3-move_to(none, 5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_111827.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_green_pepper_in_top_white_drawer_val_1018_135746_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a rectangular object into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-place(1, 2),2-move_to(none, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_green_pepper_in_top_white_drawer_val_1018_135746.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_green_onion_in_pot_train_1017_153146_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <putting slender object in a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(2, 1),2-place(2, 1),3-move_to(none, 2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_green_onion_in_pot_train_1017_153146.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_green_pepper_in_top_white_drawer_train_1018_135113_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a green pepper into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(5),2-move_to(5, 1),3-place(5, 1),4-move_to(none, 5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_green_pepper_in_top_white_drawer_train_1018_135113.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_green_pepper_in_pot_val_1016_152303_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a green pepper into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(6),2-move_to(6, 2),3-place(6, 2),4-move_to(none, 6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_green_pepper_in_pot_val_1016_152303.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_134231_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a rectangular object in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(6),2-move_to(6, 1),3-place(6, 1),4-move_to(6,none)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_134231.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_long_bread_in_pot_val_1017_134737_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a rectangular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-grasp(5),2-pick_up(5),3-move_to(5, 1),4-place(5, 1),5-move_to(none, 5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_long_bread_in_pot_val_1017_134737.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1021_182425_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a circular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(9),2-move_to(9, 1),3-place(9, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1021_182425.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_102820_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing an eggplant in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(8),2-move_to(8, 2),3-place(8,2),4-move_to(none, 8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_102820.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112454_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put circular objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(none,1),5-place(3,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112454.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_111618_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put circular objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(3),2-move_to(3, 2),3-place(3, 2),4-move_to(none, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_111618.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_134625_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put circular objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1),4-move_to(none,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_134625.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_train_1021_171310_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a round into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(9),2-move_to(9, 1),3-place(9,1),4-move_to(none, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_train_1021_171310.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150004_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Throw a cylindrical object into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(4),2-move_to(4, 1),3-place(4,1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150004.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_val_1022_144412_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing a plastic bottle into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(4),2-move_to(4, 1),3-place(4, 1),4-move_to(none,8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_val_1022_144412.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_112824_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Cover the pot with a circular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(6),2-move_to(6),3-place(6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_112824.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_173346_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot lid on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-pick_up(2),2-place(2, 8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_173346.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_153354_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Cover a circular object on the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(2),2-move_to(2,1),3-place(2, 8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_153354.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_red_pepper_in_top_white_drawer_val_1018_152559_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the elliptical object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(4),3-place(4, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_red_pepper_in_top_white_drawer_val_1018_152559.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_red_pepper_in_top_white_drawer_train_1018_152900_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the elliptical object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-place(4, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_red_pepper_in_top_white_drawer_train_1018_152900.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_1023_101026_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put flower shaped objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(3, 1),2-grasp(3),3-place(3, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_1023_101026.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_top_white_drawer_1018_173534_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <storing a piece of food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up1),2-move_to(1,5),3-place(1,5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_round_bread_in_top_white_drawer_1018_173534.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_val_1022_173603_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put flower shaped objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(6),2-move_to(1),3-place(6, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_val_1022_173603.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_train_1022_174023_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a flower shaped object into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(3),2-move_to(5),3-place(3,5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_train_1022_174023.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_top_white_drawer_train_1018_173948_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a flower shaped object into the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(6),2-move_to(6,3),3-place(6, 3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_round_bread_in_top_white_drawer_train_1018_173948.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_square_bread_in_top_white_drawer_val_1021_101941_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a piece of bread into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(7),2-move_to(7,1),3-place(7, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_square_bread_in_top_white_drawer_val_1021_101941.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163532_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a rectangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6),4-place(6,2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163532.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_toast_in_pot_1017_145242_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put a rectangular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(6),2-move_to(6,3),3-place(6, 3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_toast_in_pot_1017_145242.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_triangle_bread_in_pot_val_1016_172540_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the triangular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(5),2-move_to(5,1),3-place(5, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_triangle_bread_in_pot_val_1016_172540.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_yellow_pepper_in_pot_val_1016_142419_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the triangular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_yellow_pepper_in_pot_val_1016_142419.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_train_1015_152936_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, 6),5-place(3,6)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_train_1015_152936.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1015_112031_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 4),5-place(3, 4)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1015_112031.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1014_165536_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5),4-move_to(5, 2),5-place(5, 2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1014_165536.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_triangle_bread_on_table_1015_170018_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a rectangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,bread),2-grasp(bread),3-pick_up(bread),4-move_to(bread, basket),5-place(rbread, basket)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_triangle_bread_on_table_1015_170018.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1015_104009_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up an elliptical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1015_104009.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_175712_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a piece of bread> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_175712.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_143643_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking and placing a piece of triangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, none),5-place(3,3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_143643.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_train_1015_144518_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 2),5-place(3, 2)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_train_1015_144518.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_1_val_1014_155227_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1, 3),5-place(1, 3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_1_val_1014_155227.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_val_1014_133353_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing an object into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6),4-move_to(6, 3),5-place(6, 3)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_val_1014_133353.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_103155_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <throwing an object into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,7),2-grasp(7),3-pick_up(7),4-move_to(7,3),5-place(7, 3)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_103155.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_val_1011_161259_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a yellow block and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1, 1,5-place(1, table)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_val_1011_161259.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_181504_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a block shaped object from the plate and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, table),5-place(1, 10)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_181504.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_160455_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up a block shaped object from the plate and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-place(1, 11)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_160455.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_195805_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place spherical objects in blue plates and square objects in purple plates> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4),4-move_to(4,6),5-place(4,6),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,6),10-place(3,6),11-move_to(none, 5),12-grasp(5),13-pick_up(5),14-move_to(5, 2),15-place(5,2),16-move_to(none,1),17-grasp(5),18-pick_up(5),19-move_to(5,2),20-place(5,2)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_195805.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_183854_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place spherical objects in blue plates and square objects in purple plates> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(2),3-pick_up(2),4-move_to(2, 3),5-place(2,3),6-move_to(none, 2),7-grasp(2),8-pick_up(2),9-move_to(2, 3),10-place(2,3),11-move_to(none, 5),12-grasp(5),13-pick_up(5),14-move_to(5, 3),15-place(5,3),16-move_to(none,5),17-grasp(5),18-pick_up(6),19-move_to(6,3),20-place(6,3)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_183854.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_185740_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place spherical objects in blue plates and square objects in purple plates> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "1-move_to(none, 1),2-grasp(2),3-pick_up(2),4-move_to(2, 3),5-place(3,3),6-move_to(none, 3),7-grasp(2),8-pick_up(2),9-move_to(2, 3),10-place(2,3),11-move_to(none,5),12-grasp(5),13-pick_up(5),14-move_to(5, 4),15-place(5,4),16-move_to(none,4),17-grasp(5),18-pick_up(5),19-move_to(5,4),20-place(5,4)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_185740.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_155322_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cube block into a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp (6),3-pick_up(6),4-move_to(6, 7),5-place(6,7),6-move_to(none, 6)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_155322.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_183236_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Picking up a cube object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, purple_cube_block),2-grasp(purple_cube_block),3-pick_up(purple_cube_block),4-move_to(purple_cube_block, plate),5-place(purple_cube_block, plate),6-move_to(none, Initial Position)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_183236.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_182701_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "shape"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Picking up a square object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, 6),5-place(3, 6),6-move_to(none, 3)",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_182701.png"
+    ]
+  }
+]
\ No newline at end of file
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+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,4)",
+      "place(3,4)"
+    ],
+    "gt_dag": {
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,4)"
+      ],
+      "move_to(3,4)": [
+        "place(3,4)"
+      ],
+      "place(3,4)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_choose_toy_by_size_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_0",
+    "actions_list": [
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,6)",
+      "place(4,6)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3, right_side_of_4)",
+      "place(3, right_side_of_4)",
+      "move_to(none,1)",
+      "grasp(1)",
+      "pick_up(1)",
+      "move_to(1,right_side_of_3)",
+      "place(1,right_side_of_3)"
+    ],
+    "gt_dag": {
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,6)"
+      ],
+      "move_to(4,6)": [
+        "place(4,6)"
+      ],
+      "place(4,6)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3, right_side_of_4)"
+      ],
+      "move_to(3, right_side_of_4)": [
+        "place(3, right_side_of_4)"
+      ],
+      "place(3, right_side_of_4)": [
+        "move_to(none,1)"
+      ],
+      "move_to(none,1)": [
+        "grasp(1)"
+      ],
+      "grasp(1)": [
+        "pick_up(1)"
+      ],
+      "pick_up(1)": [
+        "move_to(1,right_side_of_3)"
+      ],
+      "move_to(1,right_side_of_3)": [
+        "place(1,right_side_of_3)"
+      ],
+      "place(1,right_side_of_3)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_1",
+    "actions_list": [
+      "move_to(none,5)",
+      "grasp(5)",
+      "pick_up(5)",
+      "move_to(5,2)",
+      "place(5,2)",
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,left_side_of_the_5)",
+      "place(4,left_side_of_the_5)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,left_side_of_the_4)",
+      "place(3,left_side_of_the_4)"
+    ],
+    "gt_dag": {
+      "move_to(none,5)": [
+        "grasp(5)"
+      ],
+      "grasp(5)": [
+        "pick_up(5)"
+      ],
+      "pick_up(5)": [
+        "move_to(5,2)"
+      ],
+      "move_to(5,2)": [
+        "place(5,2)"
+      ],
+      "place(5,2)": [
+        "move_to(none,4)"
+      ],
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,left_side_of_the_5)"
+      ],
+      "move_to(4,left_side_of_the_5)": [
+        "place(4,left_side_of_the_5)"
+      ],
+      "place(4,left_side_of_the_5)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,left_side_of_the_4)"
+      ],
+      "move_to(3,left_side_of_the_4)": [
+        "place(3,left_side_of_the_4)"
+      ],
+      "place(3,left_side_of_the_4)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_2",
+    "actions_list": [
+      "move_to(none,5)",
+      "grasp(5)",
+      "pick_up(5)",
+      "move_to(5,2)",
+      "place(5,2)",
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,right_side_of_5)",
+      "place(4,right_side_of_5)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,right_side_of_4)",
+      "place(3,right_side_of_4)"
+    ],
+    "gt_dag": {
+      "move_to(none,5)": [
+        "grasp(5)"
+      ],
+      "grasp(5)": [
+        "pick_up(5)"
+      ],
+      "pick_up(5)": [
+        "move_to(5,2)"
+      ],
+      "move_to(5,2)": [
+        "place(5,2)"
+      ],
+      "place(5,2)": [
+        "move_to(none,4)"
+      ],
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,right_side_of_5)"
+      ],
+      "move_to(4,right_side_of_5)": [
+        "place(4,right_side_of_5)"
+      ],
+      "place(4,right_side_of_5)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,right_side_of_4)"
+      ],
+      "move_to(3,right_side_of_4)": [
+        "place(3,right_side_of_4)"
+      ],
+      "place(3,right_side_of_4)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_3",
+    "actions_list": [
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,6)",
+      "place(3,6)",
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,6)",
+      "place(2,6)",
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,between_3_and_2)",
+      "place(4,between_3_and_2)"
+    ],
+    "gt_dag": {
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,6)"
+      ],
+      "move_to(3,6)": [
+        "place(3,6)"
+      ],
+      "place(3,6)": [
+        "move_to(none,4)"
+      ],
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,6)"
+      ],
+      "move_to(2,6)": [
+        "place(2,6)"
+      ],
+      "place(2,6)": [
+        "move_to(none,4)"
+      ],
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,between_3_and_2)"
+      ],
+      "move_to(4,between_3_and_2)": [
+        "place(4,between_3_and_2)"
+      ],
+      "place(4,between_3_and_2)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_4",
+    "actions_list": [
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,5)",
+      "place(4,5)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,right_side_of_the_4)",
+      "place(3,right_side_of_the_4)",
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,right_side_of_the_3)",
+      "place(2,right_side_of_the_3)"
+    ],
+    "gt_dag": {
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,5)"
+      ],
+      "move_to(4,5)": [
+        "place(4,5)"
+      ],
+      "place(4,5)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,right_side_of_the_4)"
+      ],
+      "move_to(3,right_side_of_the_4)": [
+        "place(3,right_side_of_the_4)"
+      ],
+      "place(3,right_side_of_the_4)": [
+        "move_to(none,2)"
+      ],
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,right_side_of_the_3)"
+      ],
+      "move_to(2,right_side_of_the_3)": [
+        "place(2,right_side_of_the_3)"
+      ],
+      "place(2,right_side_of_the_3)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_5",
+    "actions_list": [
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,3)",
+      "place(2,3)",
+      "move_to(none,5)",
+      "grasp(5)",
+      "pick_up(5)",
+      "move_to(5,3)",
+      "place(5,3)"
+    ],
+    "gt_dag": {
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,3)"
+      ],
+      "move_to(2,3)": [
+        "place(2,3)"
+      ],
+      "place(2,3)": [],
+      "move_to(none,5)": [
+        "grasp(5)"
+      ],
+      "grasp(5)": [
+        "pick_up(5)"
+      ],
+      "pick_up(5)": [
+        "move_to(5,3)"
+      ],
+      "move_to(5,3)": [
+        "place(5,3)"
+      ],
+      "place(5,3)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_6",
+    "actions_list": [
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,6)",
+      "place(3,6)",
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,6)",
+      "place(2,6)"
+    ],
+    "gt_dag": {
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,6)"
+      ],
+      "move_to(3,6)": [
+        "place(3,6)"
+      ],
+      "place(3,6)": [],
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,6)"
+      ],
+      "move_to(2,6)": [
+        "place(2,6)"
+      ],
+      "place(2,6)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_7",
+    "actions_list": [
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,5)",
+      "place(3,5)",
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,5)",
+      "place(4,5)"
+    ],
+    "gt_dag": {
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,5)"
+      ],
+      "move_to(3,5)": [
+        "place(3,5)"
+      ],
+      "place(3,5)": [],
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,5)"
+      ],
+      "move_to(4,5)": [
+        "place(4,5)"
+      ],
+      "place(4,5)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_9",
+    "actions_list": [
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,1)",
+      "place(3,1)",
+      "move_to(none,5)",
+      "grasp(5)",
+      "pick_up(5)",
+      "move_to(5,1)",
+      "place(5,1)"
+    ],
+    "gt_dag": {
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,1)"
+      ],
+      "move_to(3,1)": [
+        "place(3,1)"
+      ],
+      "place(3,1)": [],
+      "move_to(none,5)": [
+        "grasp(5)"
+      ],
+      "grasp(5)": [
+        "pick_up(5)"
+      ],
+      "pick_up(5)": [
+        "move_to(5,1)"
+      ],
+      "move_to(5,1)": [
+        "place(5,1)"
+      ],
+      "place(5,1)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_10",
+    "actions_list": [
+      "move_to(none,1)",
+      "grasp(1)",
+      "pick_up(1)",
+      "move_to(1,6)",
+      "place(1,6)",
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,left_side_of_the_1)",
+      "place(2,left_side_of_the_1)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,left_side_of_the_2)",
+      "place(3,left_side_of_the_2)"
+    ],
+    "gt_dag": {
+      "move_to(none,1)": [
+        "grasp(1)"
+      ],
+      "grasp(1)": [
+        "pick_up(1)"
+      ],
+      "pick_up(1)": [
+        "move_to(1,6)"
+      ],
+      "move_to(1,6)": [
+        "place(1,6)"
+      ],
+      "place(1,6)": [
+        "move_to(none,2)"
+      ],
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,left_side_of_the_1)"
+      ],
+      "move_to(2,left_side_of_the_1)": [
+        "place(2,left_side_of_the_1)"
+      ],
+      "place(2,left_side_of_the_1)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,left_side_of_the_2)"
+      ],
+      "move_to(3,left_side_of_the_2)": [
+        "place(3,left_side_of_the_2)"
+      ],
+      "place(3,left_side_of_the_2)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_11",
+    "actions_list": [
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,6)",
+      "place(2,6)",
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,6)",
+      "place(4,6)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,between_4_and_2)",
+      "place(3,between_4_and_2)"
+    ],
+    "gt_dag": {
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,6)"
+      ],
+      "move_to(2,6)": [
+        "place(2,6)"
+      ],
+      "place(2,6)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,6)"
+      ],
+      "move_to(4,6)": [
+        "place(4,6)"
+      ],
+      "place(4,6)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,between_4_and_2)"
+      ],
+      "move_to(3,between_4_and_2)": [
+        "place(3,between_4_and_2)"
+      ],
+      "place(3,between_4_and_2)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_12",
+    "actions_list": [
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,1)",
+      "place(4,1)",
+      "move_to(none,5)",
+      "grasp(5)",
+      "pick_up(5)",
+      "move_to(5,right_side_of_the_4)",
+      "place(5,right_side_of_the_4)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,left_side_of_the_4)",
+      "place(3,left_side_of_the_4)"
+    ],
+    "gt_dag": {
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,1)"
+      ],
+      "move_to(4,1)": [
+        "place(4,1)"
+      ],
+      "place(4,1)": [
+        "move_to(none,5)"
+      ],
+      "move_to(none,5)": [
+        "grasp(5)"
+      ],
+      "grasp(5)": [
+        "pick_up(5)"
+      ],
+      "pick_up(5)": [
+        "move_to(5,right_side_of_the_4)"
+      ],
+      "move_to(5,right_side_of_the_4)": [
+        "place(5,right_side_of_the_4)"
+      ],
+      "place(5,right_side_of_the_4)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,left_side_of_the_4)"
+      ],
+      "move_to(3,left_side_of_the_4)": [
+        "place(3,left_side_of_the_4)"
+      ],
+      "place(3,left_side_of_the_4)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_13",
+    "actions_list": [
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,5)",
+      "place(2,5)",
+      "move_to(none,apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple,right_side_of_2)",
+      "place(apple,right_side_of_2)",
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,right_side_of_apple)",
+      "place(4,right_side_of_apple)"
+    ],
+    "gt_dag": {
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,5)"
+      ],
+      "move_to(2,5)": [
+        "place(2,5)"
+      ],
+      "place(2,5)": [
+        "move_to(none,apple)"
+      ],
+      "move_to(none,apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple,right_side_of_2)"
+      ],
+      "move_to(apple,right_side_of_2)": [
+        "place(apple,right_side_of_2)"
+      ],
+      "place(apple,right_side_of_2)": [
+        "move_to(none,4)"
+      ],
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,right_side_of_apple)"
+      ],
+      "move_to(4,right_side_of_apple)": [
+        "place(4,right_side_of_apple)"
+      ],
+      "place(4,right_side_of_apple)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_14",
+    "actions_list": [
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,5)",
+      "place(2,5)",
+      "move_to(none,kiwi)",
+      "grasp(kiwi)",
+      "pick_up(kiwi)",
+      "move_to(kiwi,right_side_of_the_2)",
+      "place(kiwi,right_side_of_the_2)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,left_side_of_the_2)",
+      "place(3,left_side_of_the_2)"
+    ],
+    "gt_dag": {
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,5)"
+      ],
+      "move_to(2,5)": [
+        "place(2,5)"
+      ],
+      "place(2,5)": [
+        "move_to(none,kiwi)"
+      ],
+      "move_to(none,kiwi)": [
+        "grasp(kiwi)"
+      ],
+      "grasp(kiwi)": [
+        "pick_up(kiwi)"
+      ],
+      "pick_up(kiwi)": [
+        "move_to(kiwi,right_side_of_the_2)"
+      ],
+      "move_to(kiwi,right_side_of_the_2)": [
+        "place(kiwi,right_side_of_the_2)"
+      ],
+      "place(kiwi,right_side_of_the_2)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,left_side_of_the_2)"
+      ],
+      "move_to(3,left_side_of_the_2)": [
+        "place(3,left_side_of_the_2)"
+      ],
+      "place(3,left_side_of_the_2)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_15",
+    "actions_list": [
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,5)",
+      "place(4,5)",
+      "move_to(none,1)",
+      "grasp(1)",
+      "pick_up(1)",
+      "move_to(1,right_side_of_4)",
+      "place(1,right_side_of_4)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,right_side_of_1)",
+      "place(3,right_side_of_1)"
+    ],
+    "gt_dag": {
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,5)"
+      ],
+      "move_to(4,5)": [
+        "place(4,5)"
+      ],
+      "place(4,5)": [
+        "move_to(none,1)"
+      ],
+      "move_to(none,1)": [
+        "grasp(1)"
+      ],
+      "grasp(1)": [
+        "pick_up(1)"
+      ],
+      "pick_up(1)": [
+        "move_to(1,right_side_of_4)"
+      ],
+      "move_to(1,right_side_of_4)": [
+        "place(1,right_side_of_4)"
+      ],
+      "place(1,right_side_of_4)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,right_side_of_1)"
+      ],
+      "move_to(3,right_side_of_1)": [
+        "place(3,right_side_of_1)"
+      ],
+      "place(3,right_side_of_1)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_16",
+    "actions_list": [
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,2)",
+      "place(4,2)",
+      "move_to(none,5)",
+      "grasp(5)",
+      "pick_up(5)",
+      "move_to(5,2)",
+      "place(5,2)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,between_5_and_4)",
+      "place(3,between_5_and_4)"
+    ],
+    "gt_dag": {
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,2)"
+      ],
+      "move_to(4,2)": [
+        "place(4,2)"
+      ],
+      "place(4,2)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,5)": [
+        "grasp(5)"
+      ],
+      "grasp(5)": [
+        "pick_up(5)"
+      ],
+      "pick_up(5)": [
+        "move_to(5,2)"
+      ],
+      "move_to(5,2)": [
+        "place(5,2)"
+      ],
+      "place(5,2)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,between_5_and_4)"
+      ],
+      "move_to(3,between_5_and_4)": [
+        "place(3,between_5_and_4)"
+      ],
+      "place(3,between_5_and_4)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_16.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_17",
+    "actions_list": [
+      "move_to(none,1)",
+      "grasp(1)",
+      "pick_up(1)",
+      "move_to(1,4)",
+      "place(1,4)",
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,left_side_of_the_1)",
+      "place(2,left_side_of_the_1)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,left_side_of_the_2)",
+      "place(3,left_side_of_the_2)"
+    ],
+    "gt_dag": {
+      "move_to(none,1)": [
+        "grasp(1)"
+      ],
+      "grasp(1)": [
+        "pick_up(1)"
+      ],
+      "pick_up(1)": [
+        "move_to(1,4)"
+      ],
+      "move_to(1,4)": [
+        "place(1,4)"
+      ],
+      "place(1,4)": [
+        "move_to(none,2)"
+      ],
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,left_side_of_the_1)"
+      ],
+      "move_to(2,left_side_of_the_1)": [
+        "place(2,left_side_of_the_1)"
+      ],
+      "place(2,left_side_of_the_1)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,left_side_of_the_2)"
+      ],
+      "move_to(3,left_side_of_the_2)": [
+        "place(3,left_side_of_the_2)"
+      ],
+      "place(3,left_side_of_the_2)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_18",
+    "actions_list": [
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,5)",
+      "place(4,5)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,right_side_of_4)",
+      "place(3,right_side_of_4)",
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,right_side_of_3)",
+      "place(2,right_side_of_3)"
+    ],
+    "gt_dag": {
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,5)"
+      ],
+      "move_to(4,5)": [
+        "place(4,5)"
+      ],
+      "place(4,5)": [
+        "move_to(none,3)"
+      ],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,right_side_of_4)"
+      ],
+      "move_to(3,right_side_of_4)": [
+        "place(3,right_side_of_4)"
+      ],
+      "place(3,right_side_of_4)": [
+        "move_to(none,2)"
+      ],
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,right_side_of_3)"
+      ],
+      "move_to(2,right_side_of_3)": [
+        "place(2,right_side_of_3)"
+      ],
+      "place(2,right_side_of_3)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_19",
+    "actions_list": [
+      "move_to(none,2)",
+      "grasp(2)",
+      "pick_up(2)",
+      "move_to(2,4)",
+      "place(2,4)",
+      "move_to(none,kiwi)",
+      "grasp(kiwi)",
+      "pick_up(kiwi)",
+      "move_to(kiwi,4)",
+      "place(kiwi,4)",
+      "move_to(none,3)",
+      "grasp(3)",
+      "pick_up(3)",
+      "move_to(3,4)",
+      "place(3,4)"
+    ],
+    "gt_dag": {
+      "move_to(none,2)": [
+        "grasp(2)"
+      ],
+      "grasp(2)": [
+        "pick_up(2)"
+      ],
+      "pick_up(2)": [
+        "move_to(2,4)"
+      ],
+      "move_to(2,4)": [
+        "place(2,4)"
+      ],
+      "place(2,4)": [],
+      "move_to(none,kiwi)": [
+        "grasp(kiwi)"
+      ],
+      "grasp(kiwi)": [
+        "pick_up(kiwi)"
+      ],
+      "pick_up(kiwi)": [
+        "move_to(kiwi,4)"
+      ],
+      "move_to(kiwi,4)": [
+        "place(kiwi,4)"
+      ],
+      "place(kiwi,4)": [],
+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
+        "move_to(3,4)"
+      ],
+      "move_to(3,4)": [
+        "place(3,4)"
+      ],
+      "place(3,4)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_arrange_fruits_by_size_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_l_episode_0",
+    "actions_list": [
+      "move_to(none,6)",
+      "grasp(6)",
+      "pick_up(6)",
+      "move_to(6,1)",
+      "insert(6,1)",
+      "place(6,1)"
+    ],
+    "gt_dag": {
+      "move_to(none,6)": [
+        "grasp(6)"
+      ],
+      "grasp(6)": [
+        "pick_up(6)"
+      ],
+      "pick_up(6)": [
+        "move_to(6,1)"
+      ],
+      "move_to(6,1)": [
+        "insert(6,1)"
+      ],
+      "insert(6,1)": [
+        "place(6,1)"
+      ],
+      "place(6,1)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_straw_cafe_cup_l_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_l_episode_1",
+    "actions_list": [
+      "move_to(none,4)",
+      "grasp(4)",
+      "pick_up(4)",
+      "move_to(4,1)",
+      "insert(4,1)",
+      "place(4,1)"
+    ],
+    "gt_dag": {
+      "move_to(none,4)": [
+        "grasp(4)"
+      ],
+      "grasp(4)": [
+        "pick_up(4)"
+      ],
+      "pick_up(4)": [
+        "move_to(4,1)"
+      ],
+      "move_to(4,1)": [
+        "insert(4,1)"
+      ],
+      "insert(4,1)": [
+        "place(4,1)"
+      ],
+      "place(4,1)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_straw_cafe_cup_l_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_s_episode_0",
+    "actions_list": [
+      "move_to(none,6)",
+      "grasp(6)",
+      "pick_up(6)",
+      "move_to(6,3)",
+      "insert(6,3)",
+      "place(6,3)"
+    ],
+    "gt_dag": {
+      "move_to(none,6)": [
+        "grasp(6)"
+      ],
+      "grasp(6)": [
+        "pick_up(6)"
+      ],
+      "pick_up(6)": [
+        "move_to(6,3)"
+      ],
+      "move_to(6,3)": [
+        "insert(6,3)"
+      ],
+      "insert(6,3)": [
+        "place(6,3)"
+      ],
+      "place(6,3)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_RDT-FT_imgs_1_straw_cafe_cup_s_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_s_episode_1",
+    "actions_list": [
+      "move_to(none, straw)",
+      "grasp(straw)",
+      "pick_up(straw)",
+      "move_to(straw, the_rightmost_cup)",
+      "insert(straw, the_rightmost_cup)",
+      "place(straw, the_rightmost_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, straw)": [
+        "grasp(straw)"
+      ],
+      "grasp(straw)": [
+        "pick_up(straw)"
+      ],
+      "pick_up(straw)": [
+        "move_to(straw, the_rightmost_cup)"
+      ],
+      "move_to(straw, the_rightmost_cup)": [
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+  },
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+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_m_episode_0",
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+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_coffee_cup_left_to_left_episode_3",
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+  },
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+  },
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+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pick_place_pineapple_episode_4",
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+  },
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_bottle2cup_clean_episode_0",
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_0",
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+  },
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+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_cup_changing_light_episode_0",
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0",
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+      "pour(2,water,1)",
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+  },
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+      "grasp(9)",
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+  },
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+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/benchmark1_h5_ur_1rgb_pick_up_long_bread_val_1017_112150",
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_87",
+    "actions_list": [
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+      "move_to(7,5)",
+      "place(7,5)"
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_790",
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+  },
+  {
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+    },
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+  },
+  {
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+  },
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+  },
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+  },
+  {
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+      "push(4,9)"
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+    },
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+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-80_task-7_episode-1_rgbd-1",
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+      "place(1,4)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-80_task-7_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/rtx_frames__new_85_85_droid#episode_39037",
+    "actions_list": [
+      "move_to(none,5)",
+      "grasp(5)",
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+      "place(5,2)"
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+      "pick_up(5)": [
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+      "move_to(5,2)": [
+        "place(5,2)"
+      ],
+      "place(5,2)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_rtx_frames__new_85_85_droid#episode_39037.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/physical_attribute/size/images/rtx_frames__new_85_85_droid#episode_42156",
+    "actions_list": [
+      "move_to(none,1)",
+      "grasp(1)",
+      "pick_up(1)",
+      "place(1,4)",
+      "move_to(none,3)",
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+      "pick_up(3)",
+      "move_to(3,4)",
+      "place(3,4)"
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+      "move_to(none,3)": [
+        "grasp(3)"
+      ],
+      "grasp(3)": [
+        "pick_up(3)"
+      ],
+      "pick_up(3)": [
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+      ],
+      "move_to(3,4)": [
+        "place(3,4)"
+      ],
+      "place(3,4)": []
+    },
+    "v2": "3_generalized_planning_cross_object_physical_attribute_size_images_rtx_frames__new_85_85_droid#episode_42156.png"
+  }
+]
\ No newline at end of file
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+[
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest piece of fruit into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,2),5-place(1,2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pick_orange_into_bag_episode_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35366_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a red arch on another arch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,8),2-grasp(8),3-pick_up(8),4-move_to(8,3),5-place(8,3)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35366.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rtx_frames__new_85_85_droid#episode_20054_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <moving the smallest piece of fruit from a bowl to the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,12),5-place(3,12)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_20054.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rtx_frames__new_85_85_droid#episode_26141_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <take the largest fruit from the basket and place it on the gray plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,10),2-grasp(10),3-pick_up(10),4-move_to(10,8),5-place(10,8)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_26141.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest toy into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-right",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,3),5-place(2,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_2.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,5),5-place(1,5)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_3.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,4),5-place(5,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_4.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,2),5-place(5,2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_5.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,4),5-place(3,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_6.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,3),5-place(4,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,5),5-place(3,5)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,4),5-place(1,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the smallest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,4),5-place(1,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the largest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,5),5-place(3,5)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_16.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_choose_toy_by_size_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the largest doll into a box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,4),5-place(3,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_choose_toy_by_size_episode_18.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits descending order of size from left to right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,6),5-place(4,6),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3, right_side_of_4),10-place(3, right_side_of_4),11-move_to(none,1),12-grasp(1),13-pick_up(1),14-move_to(1,right_side_of_3),15-place(1,right_side_of_3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits in ascending order of size from right to left.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,2),5-place(5,2),6-move_to(none,4),7-grasp(4),8-pick_up(4),9-move_to(4,left_side_of_the_5),10-place(4,left_side_of_the_5),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,left_side_of_the_4),15-place(3,left_side_of_the_4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits descending order of size from left to right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,2),5-place(5,2),6-move_to(none,4),7-grasp(4),8-pick_up(4),9-move_to(4,right_side_of_5),10-place(4,right_side_of_5),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,right_side_of_4),15-place(3,right_side_of_4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_2.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by descending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,6),5-place(3,6),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2,6),10-place(2,6),11-move_to(none,4),12-grasp(4),13-pick_up(4),14-move_to(4,between_3_and_2),15-place(4,between_3_and_2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_3.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,5),5-place(4,5),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,right_side_of_the_4),10-place(3,right_side_of_the_4),11-move_to(none,2),12-grasp(2),13-pick_up(2),14-move_to(2,right_side_of_the_3),15-place(2,right_side_of_the_3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_4.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from right to left.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,3),5-place(2,3),6-move_to(none,5),7-grasp(5),8-pick_up(5),9-move_to(5,3),10-place(5,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_5.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,6),5-place(3,6),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2,6),10-place(2,6)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_6.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from right to left.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,5),5-place(3,5),6-move_to(none,4),7-grasp(4),8-pick_up(4),9-move_to(4,5),10-place(4,5)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_7.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from right to left.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,1),5-place(3,1),6-move_to(none,5),7-grasp(5),8-pick_up(5),9-move_to(5,1),10-place(5,1)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_9.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from right to left.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,6),5-place(1,6),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2,left_side_of_the_1),10-place(2,left_side_of_the_1),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,left_side_of_the_2),15-place(3,left_side_of_the_2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by descending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,6),5-place(2,6),6-move_to(none,4),7-grasp(4),8-pick_up(4),9-move_to(4,6),10-place(4,6),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,between_4_and_2),15-place(3,between_4_and_2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from right to left.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,1),5-place(4,1),6-move_to(none,5),7-grasp(5),8-pick_up(5),9-move_to(5,right_side_of_the_4),10-place(5,right_side_of_the_4),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,left_side_of_the_4),15-place(3,left_side_of_the_4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by descending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,5),5-place(2,5),6-move_to(none,apple),7-grasp(apple),8-pick_up(apple),9-move_to(apple,right_side_of_2),10-place(apple,right_side_of_2),11-move_to(none,4),12-grasp(4),13-pick_up(4),14-move_to(4,right_side_of_apple),15-place(4,right_side_of_apple)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by descending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,5),5-place(2,5),6-move_to(none,kiwi),7-grasp(kiwi),8-pick_up(kiwi),9-move_to(kiwi,right_side_of_the_2),10-place(kiwi,right_side_of_the_2),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,left_side_of_the_2),15-place(3,left_side_of_the_2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by descending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,5),5-place(4,5),6-move_to(none,1),7-grasp(1),8-pick_up(1),9-move_to(1,right_side_of_4),10-place(1,right_side_of_4),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,right_side_of_1),15-place(3,right_side_of_1)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from right to left.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,2),5-place(4,2),6-move_to(none,5),7-grasp(5),8-pick_up(5),9-move_to(5,2),10-place(5,2),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,between_5_and_4),15-place(3,between_5_and_4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_16.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by ascending order of size from right to left.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,4),5-place(1,4),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2,left_side_of_the_1),10-place(2,left_side_of_the_1),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,left_side_of_the_2),15-place(3,left_side_of_the_2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_17.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by descending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,5),5-place(4,5),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,right_side_of_4),10-place(3,right_side_of_4),11-move_to(none,2),12-grasp(2),13-pick_up(2),14-move_to(2,right_side_of_3),15-place(2,right_side_of_3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_18.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by descending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,4),5-place(2,4),6-move_to(none,kiwi),7-grasp(kiwi),8-pick_up(kiwi),9-move_to(kiwi,4),10-place(kiwi,4),11-move_to(none,3),12-grasp(3),13-pick_up(3),14-move_to(3,4),15-place(3,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_19.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_l_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Inserting a straw into the largest cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp(6),3-pick_up(6),4-move_to(6,1),5-insert(6,1),6-place(6,1)",
+    "image_urls": [
+      "RDT-FT_imgs_1_straw_cafe_cup_l_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_l_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Inserting a straw into the largest cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4,1),5-insert(4,1),6-place(4,1)",
+    "image_urls": [
+      "RDT-FT_imgs_1_straw_cafe_cup_l_episode_1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_s_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Inserting a straw into the smallest cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp(6),3-pick_up(6),4-move_to(6,3),5-insert(6,3),6-place(6,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_straw_cafe_cup_s_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_s_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Inserting a straw into the smallest cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, straw),2-grasp(straw),3-pick_up(straw),4-move_to(straw, the_rightmost_cup),5-insert(straw, the_rightmost_cup),6-place(straw, the_rightmost_cup)",
+    "image_urls": [
+      "RDT-FT_imgs_1_straw_cafe_cup_s_episode_1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_m_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing a straw into the medium cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,3),5-insert(5,3),6-place(5,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_straw_cafe_cup_m_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_straw_cafe_cup_m_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing a straw into the medium cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,3),5-insert(5,3),6-place(5,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_straw_cafe_cup_m_episode_3.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_coffee_cup_left_to_left_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the largest cup next to a laptop.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,4),5-place(1,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_coffee_cup_left_to_left_episode_3.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_coffee_cup_left_to_left_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Moving the smallest coffee cup next to a laptop.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,2),5-place(1,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_coffee_cup_left_to_left_episode_6.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_coffee_cup_left_to_left_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Moving the smallest cup next to a laptop.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,3),5-place(1,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_coffee_cup_left_to_left_episode_8.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_coffee_cup_left_to_left_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Moving the largest coffee cup next to a laptop.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,3),5-place(2,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_coffee_cup_left_to_left_episode_9.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_coffee_cup_middle_to_right_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Moving the smallest coffee cup next to a laptop.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp(6),3-pick_up(6),4-move_to(6,3),5-place(6,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_coffee_cup_middle_to_right_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pick_place_pineapple_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Placing the largest fruit above a gray bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,3),5-place(1,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pick_place_pineapple_episode_4.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pick_place_pineapple_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Moving the largest fruit onto a laptop case.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,2),5-place(1,2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pick_place_pineapple_episode_5.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pick_place_pineapple_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Place the largest fruit on the laptop.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,2),5-place(1,2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pick_place_pineapple_episode_9.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_4_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pour a large bottle of water into a small mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2, 1),5-pour(2, water,1),6-move_to(2,3),7-place(2,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_4_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_5_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pour a large bottle of water into a small mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-pour(2, water,1),6-move_to(2,3),7-place(2,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_5_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_6_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pour a large bottle of water into a small mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,2),2-(2),3-pick_up(2),4-move_to(2,1),5-pour(2, water,1),6-move_to(2,3),7-place(2,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_6_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_between_cup_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pour a small cup of water into a large cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,2),5-pour(3, water,2),6-move_to(3,5),7-place(3,5)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_between_cup_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_bottle2cup_clean_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a small cup from a large thermos.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-pour(2, water,1),6-move_to(2,3),7-place(2,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_bottle2cup_clean_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water into a small cup from a large thermos.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-pour(2, water,1),6-move_to(2,3),7-place(2,3)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_cup_changing_light_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water from a large thermos into a small cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,1),5-pour(3, water,1),6-move_to(3, 2),7-place(3,2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_cup_changing_light_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water from a small jigger into a large glass.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-pour(2,1),6-move_to(2,4),7-place(2,4)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_jigger2cup_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/benchmark1_h5_ur_1rgb_pick_up_egg_val_1022_103858_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up the smallest food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,9),2-grasp(9),3-pick_up(9)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_egg_val_1022_103858.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/benchmark1_h5_ur_1rgb_pick_up_long_bread_val_1017_112150_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up the longest food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_long_bread_val_1017_112150.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_87_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <taking the largest food off a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,7),2-grasp(7),3-pick_up(7),4-move_to(7,5),5-place(7,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_87.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_790_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Move the larger jar to the bottom right corner of the table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-push(4,5),4-place(4,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_790.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_896_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place the cylindrical food into a cup.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,2),5-place(1,2)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_896.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_7710_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <stack a red cube on top of a yellow cube > as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,3),5-place(1,3)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_7710.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_7885_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <moving the largest can from the upper right to the lower right of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(3),3-pick_up(3),4-push(3,6),5-place(3,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_7885.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8082_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <opening the cupboard largest door.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pull(4,open)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8082.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8292_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <taking the smallest food out of a pan to the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,10),2-grasp(10),3-pick_up(10),4-move_to(10,4),5-place(10,4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8292.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8381_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <opening the largest door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pull(3,open)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8381.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8430_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the largest food onto a plate.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,5),5-place(3,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8430.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8446_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <moving the largest spoon to above the bowl.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(),4-move_to(2,1),5-place(2, 1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8446.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8470_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place the larger pot on the right stove and add cauliflower to the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,3),5-place(2,3),6-move_to(none, cauliflower),7-grasp(cauliflower),8-pick_up(cauliflower),9-move_to(cauliflower, 2),10-place(cauliflower,2)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8470.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8494_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place the smallest bread on a plate and a longest bread in a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,3),5-place(5,3),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2,1),10-place(2,1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8494.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8508_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the longest food on a plate and the smallest food in a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,6),2-grasp(6),3-pick_up(6),4-move_to(6,2),5-place(6,2),6-move_to(none, 6),7-grasp(6),8-pick_up(6),9-move_to(6,1),10-place(6,1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8508.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8517_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <opening the largest door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pull(4,open)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8517.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8593_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the longest food onto a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,1),5-place(3,1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8593.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8597_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <opening the largest door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pull(2, open)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8597.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8617_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the longest food onto a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,10),2-grasp(10),3-pick_up(10),4-move_to(10,5),5-place(10,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8617.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9001_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <open the largest cupboard door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pull(2,open)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9001.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9201_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the longest food onto a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,6),5-place(2,6)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9201.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9458_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place the smallest object on the bottom edge of a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-pick_up(4),4-move_to(4, 1),5-place(4,1)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9458.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9518_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the longest wooden block on top of a yellow cube> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,4),5-place(1,4)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9518.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9619_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <place the round object onto the bottom left corner of the cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 1),5-place(3,5)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9619.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9826_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the longest food on a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5,7),5-place(5,7)",
+    "image_urls": [
+      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_9826.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rtx_frames__new_85_85_droid#episode_1542_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <covering the smallest pot with its lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1,7),5-place(1,7)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_1542.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_val_1022_100423_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up the round food.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_val_1022_100423.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/benchmark1_h5_ur_1rgb_pick_up_egg_train_1016_104527_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up the smallest food on the table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_egg_train_1016_104527.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/benchmark1_h5_ur_1rgb_pick_up_egg_train_1016_104158_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up the smallest food on the table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_egg_train_1016_104158.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_val_1016_171821_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up the largest food on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,8),2-grasp(8),3-pick_up(8)",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_val_1016_171821.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_arrange_fruits_by_size_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Sorting fruits by descending order of size from left to right.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,5),5-place(3,5),6-move_to(none,2),7-grasp(2),8-pick_up(2),9-move_to(2, 3),10-place(2,3),11-move_to(none,4),12-grasp(4),13-pick_up(4),14-move_to(4, 2),15-place(4,2)",
+    "image_urls": [
+      "RDT-FT_imgs_1_arrange_fruits_by_size_episode_8.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/RDT-FT_imgs_1_pour_water_cup2jigger2glass_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Pouring water from a small beaker into a jigger and pouring water from a small jigger into a large glass.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 14 steps.",
+    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3,1),5-pour(3, water,1),6-move_to(3,5),7-place(3,5),8-move_to(none,1),9-grasp(1),10-pick_up(1),11-move_to(1,2),12-pour(1, water,2),13-move_to(1,5),14-place(1,5)",
+    "image_urls": [
+      "RDT-FT_imgs_1_pour_water_cup2jigger2glass_episode_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-13_episode-5_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <placing the smallest block onto a scale> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,1),5-place(2,1)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-13_episode-5_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-34_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <picking up the smallest wooden block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-7_task-34_episode-1_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-76_episode-3_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <Push the smallest block to the back of the box.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none,4),2-grasp(4),3-push(4,8),4-push(4,9)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-76_episode-3_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-80_task-7_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <pick up the smallest block on the table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(1,4),5-place(1,4)",
+    "image_urls": [
+      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-80_task-7_episode-1_rgbd-1.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rtx_frames__new_85_85_droid#episode_39037_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
+    "question": "With <unstacking two larger bins> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(5),2-grasp(5),3-pick_up(5),4-move_to(5,2),5-place(5,2)",
+    "image_urls": [
+      "rtx_frames__new_85_85_droid#episode_39037.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/physical_attribute/size/images/rtx_frames__new_85_85_droid#episode_42156_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "physical_attribute",
+      "size"
+    ],
+    "input_type": "image",
+    "robotic_type": "single-arm",
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+    ]
+  }
+]
\ No newline at end of file
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+      "pick_up(bottle)",
+      "hold(bottle)",
+      "place(bottle, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, under_of_water_dispenser_tap)"
+      ],
+      "move_to(bottle, under_of_water_dispenser_tap)": [
+        "pick_up(bottle)<1>"
+      ],
+      "hold(bottle)": [
+        "place(bottle, desktop)"
+      ],
+      "place(bottle, desktop)": [],
+      "pick_up(bottle)<1>": [
+        "hold(bottle)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2910",
+    "actions_list": [
+      "move_to(pot_lid)",
+      "grasp(pot_lid_handle)",
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, desktop)",
+      "place(pot_lid, desktop)",
+      "move_to(none, food_on_bowl)",
+      "grasp(food)",
+      "pick_up(food)",
+      "move_to(food, pot)",
+      "place(food, pot)",
+      "move_to(none, napkin)",
+      "grasp(napkin)",
+      "pick_up(napkin)",
+      "move_to(napkin, desktop)",
+      "place(napkin, desktop)",
+      "move_to(none, spoon)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon, inside_of_pot)",
+      "stir(spoon, food, pot)",
+      "move_to(spoon, desktop)",
+      "place(spoon, desktop)",
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid)",
+      "pick_up(pot_lid)",
+      "move_to(pot_lid, pot)",
+      "place(pot_lid, pot)"
+    ],
+    "gt_dag": {
+      "move_to(pot_lid)": [
+        "grasp(pot_lid_handle)"
+      ],
+      "grasp(pot_lid_handle)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": [
+        "move_to(pot_lid, desktop)"
+      ],
+      "move_to(pot_lid, desktop)": [
+        "place(pot_lid, desktop)"
+      ],
+      "place(pot_lid, desktop)": [
+        "move_to(none, food_on_bowl)",
+        "move_to(none, napkin)"
+      ],
+      "move_to(none, food_on_bowl)": [
+        "grasp(food)"
+      ],
+      "grasp(food)": [
+        "pick_up(food)"
+      ],
+      "pick_up(food)": [
+        "move_to(food, pot)"
+      ],
+      "move_to(food, pot)": [
+        "place(food, pot)"
+      ],
+      "place(food, pot)": [
+        "move_to(none, spoon)"
+      ],
+      "move_to(none, napkin)": [
+        "grasp(napkin)"
+      ],
+      "grasp(napkin)": [
+        "pick_up(napkin)"
+      ],
+      "pick_up(napkin)": [
+        "move_to(napkin, desktop)"
+      ],
+      "move_to(napkin, desktop)": [
+        "place(napkin, desktop)"
+      ],
+      "place(napkin, desktop)": [
+        "move_to(none, spoon)"
+      ],
+      "move_to(none, spoon)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, inside_of_pot)"
+      ],
+      "move_to(spoon, inside_of_pot)": [
+        "stir(spoon, food, pot)"
+      ],
+      "stir(spoon, food, pot)": [
+        "move_to(spoon, desktop)"
+      ],
+      "move_to(spoon, desktop)": [
+        "place(spoon, desktop)"
+      ],
+      "place(spoon, desktop)": [
+        "move_to(none, pot_lid)"
+      ],
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid)"
+      ],
+      "grasp(pot_lid)": [
+        "pick_up(pot_lid)<1>"
+      ],
+      "move_to(pot_lid, pot)": [
+        "place(pot_lid, pot)"
+      ],
+      "place(pot_lid, pot)": [],
+      "pick_up(pot_lid)<1>": [
+        "move_to(pot_lid, pot)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2910.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2447",
+    "actions_list": [
+      "move_to(none, lid)",
+      "grasp(lid_handle)",
+      "pick_up(lid)",
+      "move_to(lid, counter)",
+      "place(lid, counter)",
+      "move_to(none, first_food)",
+      "grasp(first_food)",
+      "pick_up(first_food)",
+      "move_to(first_food,frying_pan)",
+      "place(first_food,frying_pan)",
+      "move_to(none, second_food)",
+      "grasp(second_food)",
+      "pick_up(second_food)",
+      "move_to(second_food,frying_pan)",
+      "place(second_food,frying_pan)",
+      "move_to(none, third_food)",
+      "grasp(third_food)",
+      "pick_up(third_food)",
+      "move_to(third_food,frying_pan)",
+      "place(third_food,frying_pan)",
+      "move_to(none, lid)",
+      "grasp(lid_handle)",
+      "pick_up(lid)",
+      "move_to(lid,frying_pan)",
+      "place(lid,frying_pan)"
+    ],
+    "gt_dag": {
+      "move_to(none, lid)": [
+        "grasp(lid_handle)"
+      ],
+      "grasp(lid_handle)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, counter)"
+      ],
+      "move_to(lid, counter)": [
+        "place(lid, counter)"
+      ],
+      "place(lid, counter)": [
+        "move_to(none, first_food)",
+        "move_to(none, second_food)",
+        "move_to(none, third_food)"
+      ],
+      "move_to(none, first_food)": [
+        "grasp(first_food)"
+      ],
+      "grasp(first_food)": [
+        "pick_up(first_food)"
+      ],
+      "pick_up(first_food)": [
+        "move_to(first_food,frying_pan)"
+      ],
+      "move_to(first_food,frying_pan)": [
+        "place(first_food,frying_pan)"
+      ],
+      "place(first_food,frying_pan)": [
+        "move_to(none, lid)<1>"
+      ],
+      "move_to(none, second_food)": [
+        "grasp(second_food)"
+      ],
+      "grasp(second_food)": [
+        "pick_up(second_food)"
+      ],
+      "pick_up(second_food)": [
+        "move_to(second_food,frying_pan)"
+      ],
+      "move_to(second_food,frying_pan)": [
+        "place(second_food,frying_pan)"
+      ],
+      "place(second_food,frying_pan)": [
+        "move_to(none, lid)<1>"
+      ],
+      "move_to(none, third_food)": [
+        "grasp(third_food)"
+      ],
+      "grasp(third_food)": [
+        "pick_up(third_food)"
+      ],
+      "pick_up(third_food)": [
+        "move_to(third_food,frying_pan)"
+      ],
+      "move_to(third_food,frying_pan)": [
+        "place(third_food,frying_pan)"
+      ],
+      "place(third_food,frying_pan)": [
+        "move_to(none, lid)<1>"
+      ],
+      "move_to(lid,frying_pan)": [
+        "place(lid,frying_pan)"
+      ],
+      "place(lid,frying_pan)": [],
+      "move_to(none, lid)<1>": [
+        "grasp(lid_handle)<1>"
+      ],
+      "grasp(lid_handle)<1>": [
+        "pick_up(lid)<1>"
+      ],
+      "pick_up(lid)<1>": [
+        "move_to(lid,frying_pan)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2447.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_571",
+    "actions_list": [
+      "move_to(first_green_ball)",
+      "grasp(green_ball)",
+      "pick_up(green_ball)",
+      "move_to(green_ball,bowl)",
+      "place(green_ball,bowl)",
+      "move_to(second_green_ball)",
+      "grasp(second_green_ball)",
+      "pick_up(second_green_ball)",
+      "move_to(second_green_ball,bowl)",
+      "place(second_green_ball,bowl)",
+      "move_to(first_yellow_ball)",
+      "grasp(first_yellow_ball)",
+      "pick_up(first_yellow_ball)",
+      "move_to(first_yellow_ball,bowl)",
+      "place(first_yellow_ball,bowl)",
+      "move_to(banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana,bowl)",
+      "place(banana,bowl)",
+      "move_to(apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple,bowl)",
+      "place(apple,bowl)",
+      "move_to(red_ball)",
+      "grasp(red_ball)",
+      "pick_up(red_ball)",
+      "move_to(red_ball,bowl)",
+      "place(red_ball,bowl)",
+      "move_to(second_yellow_ball)",
+      "grasp(second_yellow_ball)",
+      "pick_up(second_yellow_ball)",
+      "move_to(second_yellow_ball,bowl)",
+      "place(second_yellow_ball,bowl)",
+      "move_to(pear)",
+      "grasp(pear)",
+      "pick_up(pear)",
+      "move_to(pear,bowl)",
+      "place(pear,bowl)"
+    ],
+    "gt_dag": {
+      "move_to(first_green_ball)": [
+        "grasp(green_ball)"
+      ],
+      "grasp(green_ball)": [
+        "pick_up(green_ball)"
+      ],
+      "pick_up(green_ball)": [
+        "move_to(green_ball,bowl)"
+      ],
+      "move_to(green_ball,bowl)": [
+        "place(green_ball,bowl)"
+      ],
+      "place(green_ball,bowl)": [],
+      "move_to(second_green_ball)": [
+        "grasp(second_green_ball)"
+      ],
+      "grasp(second_green_ball)": [
+        "pick_up(second_green_ball)"
+      ],
+      "pick_up(second_green_ball)": [
+        "move_to(second_green_ball,bowl)"
+      ],
+      "move_to(second_green_ball,bowl)": [
+        "place(second_green_ball,bowl)"
+      ],
+      "place(second_green_ball,bowl)": [],
+      "move_to(first_yellow_ball)": [
+        "grasp(first_yellow_ball)"
+      ],
+      "grasp(first_yellow_ball)": [
+        "pick_up(first_yellow_ball)"
+      ],
+      "pick_up(first_yellow_ball)": [
+        "move_to(first_yellow_ball,bowl)"
+      ],
+      "move_to(first_yellow_ball,bowl)": [
+        "place(first_yellow_ball,bowl)"
+      ],
+      "place(first_yellow_ball,bowl)": [],
+      "move_to(banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana,bowl)"
+      ],
+      "move_to(banana,bowl)": [
+        "place(banana,bowl)"
+      ],
+      "place(banana,bowl)": [],
+      "move_to(apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple,bowl)"
+      ],
+      "move_to(apple,bowl)": [
+        "place(apple,bowl)"
+      ],
+      "place(apple,bowl)": [],
+      "move_to(red_ball)": [
+        "grasp(red_ball)"
+      ],
+      "grasp(red_ball)": [
+        "pick_up(red_ball)"
+      ],
+      "pick_up(red_ball)": [
+        "move_to(red_ball,bowl)"
+      ],
+      "move_to(red_ball,bowl)": [
+        "place(red_ball,bowl)"
+      ],
+      "place(red_ball,bowl)": [],
+      "move_to(second_yellow_ball)": [
+        "grasp(second_yellow_ball)"
+      ],
+      "grasp(second_yellow_ball)": [
+        "pick_up(second_yellow_ball)"
+      ],
+      "pick_up(second_yellow_ball)": [
+        "move_to(second_yellow_ball,bowl)"
+      ],
+      "move_to(second_yellow_ball,bowl)": [
+        "place(second_yellow_ball,bowl)"
+      ],
+      "place(second_yellow_ball,bowl)": [],
+      "move_to(pear)": [
+        "grasp(pear)"
+      ],
+      "grasp(pear)": [
+        "pick_up(pear)"
+      ],
+      "pick_up(pear)": [
+        "move_to(pear,bowl)"
+      ],
+      "move_to(pear,bowl)": [
+        "place(pear,bowl)"
+      ],
+      "place(pear,bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_571.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2350",
+    "actions_list": [
+      "move_to(none, can)",
+      "grasp(can)",
+      "pick_up(can)",
+      "move_to(can， countertop)",
+      "place(none, can)"
+    ],
+    "gt_dag": {
+      "move_to(none, can)": [
+        "grasp(can)"
+      ],
+      "grasp(can)": [
+        "pick_up(can)"
+      ],
+      "pick_up(can)": [
+        "move_to(can， countertop)"
+      ],
+      "move_to(can， countertop)": [
+        "place(none, can)"
+      ],
+      "place(none, can)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2350.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2536",
+    "actions_list": [
+      "move_to(none, shoe)",
+      "grasp(shoe)",
+      "pick_up(shoe)",
+      "turn(shoe, anticlockwise, left_of_shoe)",
+      "place(shoe, shoe_rack)"
+    ],
+    "gt_dag": {
+      "move_to(none, shoe)": [
+        "grasp(shoe)"
+      ],
+      "grasp(shoe)": [
+        "pick_up(shoe)"
+      ],
+      "pick_up(shoe)": [
+        "turn(shoe, anticlockwise, left_of_shoe)"
+      ],
+      "turn(shoe, anticlockwise, left_of_shoe)": [
+        "place(shoe, shoe_rack)"
+      ],
+      "place(shoe, shoe_rack)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2536.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1023",
+    "actions_list": [
+      "move_to(none, lid)",
+      "grasp(lid_handle)",
+      "pick_up(lid)",
+      "move_to(lid,countertop)",
+      "place(lid,countertop)",
+      "move_to(none, first_food)",
+      "grasp(first_food)",
+      "pick_up(first_food)",
+      "move_to(first_food,pot)",
+      "place(first_food, pot)",
+      "move_to(none, second_food)",
+      "grasp(second_food)",
+      "pick_up(second_food)",
+      "move_to(second_food,pot)",
+      "place(second_food, pot)",
+      "move_to(none, third_food)",
+      "grasp(third_food)",
+      "pick_up(third_food)",
+      "move_to(third_food,pot)",
+      "place(third_food, pot)",
+      "move_to(none, lid)",
+      "grasp(lid_handlle)",
+      "pick_up(lid)",
+      "move_to(lid, pot)",
+      "place(lid, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, lid)": [
+        "grasp(lid_handle)"
+      ],
+      "grasp(lid_handle)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid,countertop)"
+      ],
+      "move_to(lid,countertop)": [
+        "place(lid,countertop)"
+      ],
+      "place(lid,countertop)": [
+        "move_to(none, first_food)",
+        "move_to(none, second_food)",
+        "move_to(none, third_food)"
+      ],
+      "move_to(none, first_food)": [
+        "grasp(first_food)"
+      ],
+      "grasp(first_food)": [
+        "pick_up(first_food)"
+      ],
+      "pick_up(first_food)": [
+        "move_to(first_food,pot)"
+      ],
+      "move_to(first_food,pot)": [
+        "place(first_food, pot)"
+      ],
+      "place(first_food, pot)": [
+        "move_to(none, lid)<1>"
+      ],
+      "move_to(none, second_food)": [
+        "grasp(second_food)"
+      ],
+      "grasp(second_food)": [
+        "pick_up(second_food)"
+      ],
+      "pick_up(second_food)": [
+        "move_to(second_food,pot)"
+      ],
+      "move_to(second_food,pot)": [
+        "place(second_food, pot)"
+      ],
+      "place(second_food, pot)": [
+        "move_to(none, lid)<1>"
+      ],
+      "move_to(none, third_food)": [
+        "grasp(third_food)"
+      ],
+      "grasp(third_food)": [
+        "pick_up(third_food)"
+      ],
+      "pick_up(third_food)": [
+        "move_to(third_food,pot)"
+      ],
+      "move_to(third_food,pot)": [
+        "place(third_food, pot)"
+      ],
+      "place(third_food, pot)": [
+        "move_to(none, lid)<1>"
+      ],
+      "grasp(lid_handlle)": [
+        "pick_up(lid)<1>"
+      ],
+      "move_to(lid, pot)": [
+        "place(lid, pot)"
+      ],
+      "place(lid, pot)": [],
+      "pick_up(lid)<1>": [
+        "move_to(lid, pot)"
+      ],
+      "move_to(none, lid)<1>": [
+        "grasp(lid_handlle)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_1023.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2256",
+    "actions_list": [
+      "move_to(none, rag)",
+      "grasp(rag)",
+      "pick_up(rag)",
+      "move_to(rag, desktop)",
+      "place(rag, desktop)",
+      "move_to(none, first_food)",
+      "grasp(first_food)",
+      "pick_up(first_food)",
+      "move_to(first_food, desktop)",
+      "place(first_food, desktop)",
+      "move_to(none, second_food)",
+      "grasp(second_food)",
+      "pick_up(second_food)",
+      "move_to(second_food, desktop)",
+      "place(second_food, desktop)",
+      "move_to(none, first_can)",
+      "grasp(first_can)",
+      "pick_up(first_can)",
+      "move_to(first_can, tray)",
+      "place(first_can, tray)",
+      "move_to(none, second_can)",
+      "grasp(second_can)",
+      "pick_up(second_can)",
+      "move_to(second_can, tray)",
+      "place(second_can, tray)"
+    ],
+    "gt_dag": {
+      "move_to(none, rag)": [
+        "grasp(rag)"
+      ],
+      "grasp(rag)": [
+        "pick_up(rag)"
+      ],
+      "pick_up(rag)": [
+        "move_to(rag, desktop)"
+      ],
+      "move_to(rag, desktop)": [
+        "place(rag, desktop)"
+      ],
+      "place(rag, desktop)": [
+        "move_to(none, first_can)",
+        "move_to(none, second_can)"
+      ],
+      "move_to(none, first_food)": [
+        "grasp(first_food)"
+      ],
+      "grasp(first_food)": [
+        "pick_up(first_food)"
+      ],
+      "pick_up(first_food)": [
+        "move_to(first_food, desktop)"
+      ],
+      "move_to(first_food, desktop)": [
+        "place(first_food, desktop)"
+      ],
+      "place(first_food, desktop)": [
+        "move_to(none, first_can)",
+        "move_to(none, second_can)"
+      ],
+      "move_to(none, second_food)": [
+        "grasp(second_food)"
+      ],
+      "grasp(second_food)": [
+        "pick_up(second_food)"
+      ],
+      "pick_up(second_food)": [
+        "move_to(second_food, desktop)"
+      ],
+      "move_to(second_food, desktop)": [
+        "place(second_food, desktop)"
+      ],
+      "place(second_food, desktop)": [
+        "move_to(none, first_can)",
+        "move_to(none, second_can)"
+      ],
+      "move_to(none, first_can)": [
+        "grasp(first_can)"
+      ],
+      "grasp(first_can)": [
+        "pick_up(first_can)"
+      ],
+      "pick_up(first_can)": [
+        "move_to(first_can, tray)"
+      ],
+      "move_to(first_can, tray)": [
+        "place(first_can, tray)"
+      ],
+      "place(first_can, tray)": [],
+      "move_to(none, second_can)": [
+        "grasp(second_can)"
+      ],
+      "grasp(second_can)": [
+        "pick_up(second_can)"
+      ],
+      "pick_up(second_can)": [
+        "move_to(second_can, tray)"
+      ],
+      "move_to(second_can, tray)": [
+        "place(second_can, tray)"
+      ],
+      "place(second_can, tray)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2256.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2444",
+    "actions_list": [
+      "move_to(none, blinds_top)",
+      "grasp(blinds_top)",
+      "pull(blinds_rope, )"
+    ],
+    "gt_dag": {
+      "move_to(none, blinds_top)": [
+        "grasp(blinds_top)"
+      ],
+      "grasp(blinds_top)": [
+        "pull(blinds_rope, )"
+      ],
+      "pull(blinds_rope, )": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2444.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1032",
+    "actions_list": [
+      "move_to(none, corner_of_washcloth)",
+      "grasp(concer_of_washcloth)",
+      "fold(washcloth, anticlockwise, left_of_washcloth)",
+      "place(washcloth, countertop)",
+      "move_to(none, corner_of_washcloth)",
+      "grasp(concer_of_washcloth)",
+      "fold(washcloth, anticlockwise, right_of_washcloth)",
+      "place(washcloth, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, corner_of_washcloth)": [
+        "grasp(concer_of_washcloth)"
+      ],
+      "grasp(concer_of_washcloth)": [
+        "fold(washcloth, anticlockwise, left_of_washcloth)"
+      ],
+      "fold(washcloth, anticlockwise, left_of_washcloth)": [
+        "place(washcloth, countertop)"
+      ],
+      "place(washcloth, countertop)": [
+        "move_to(none, corner_of_washcloth)<1>"
+      ],
+      "fold(washcloth, anticlockwise, right_of_washcloth)": [
+        "place(washcloth, countertop)<1>"
+      ],
+      "move_to(none, corner_of_washcloth)<1>": [
+        "grasp(concer_of_washcloth)<1>"
+      ],
+      "grasp(concer_of_washcloth)<1>": [
+        "fold(washcloth, anticlockwise, right_of_washcloth)"
+      ],
+      "place(washcloth, countertop)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_1032.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_46681",
+    "actions_list": [
+      "move_to(none, pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen, desktop)",
+      "place(pen, desktop)",
+      "move_to(none, napkin)",
+      "grasp(napkin)",
+      "pick_up(napkin)",
+      "move_to(napkin, socket)",
+      "wipe(napkin, none, socket)",
+      "move_to(napkin, desktop)",
+      "place(napkin, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, pen)": [
+        "grasp(pen)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen, desktop)"
+      ],
+      "move_to(pen, desktop)": [
+        "place(pen, desktop)"
+      ],
+      "place(pen, desktop)": [
+        "move_to(none, napkin)"
+      ],
+      "move_to(none, napkin)": [
+        "grasp(napkin)"
+      ],
+      "grasp(napkin)": [
+        "pick_up(napkin)"
+      ],
+      "pick_up(napkin)": [
+        "move_to(napkin, socket)"
+      ],
+      "move_to(napkin, socket)": [
+        "wipe(napkin, none, socket)"
+      ],
+      "wipe(napkin, none, socket)": [
+        "move_to(napkin, desktop)"
+      ],
+      "move_to(napkin, desktop)": [
+        "place(napkin, desktop)"
+      ],
+      "place(napkin, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_46681.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2434",
+    "actions_list": [
+      "move_to(none, water_bottle)",
+      "grasp(water_bottle)",
+      "pick_up(water_bottle)",
+      "turn(water_bottle,anticlockwise, left_of_water_bottle)"
+    ],
+    "gt_dag": {
+      "move_to(none, water_bottle)": [
+        "grasp(water_bottle)"
+      ],
+      "grasp(water_bottle)": [
+        "pick_up(water_bottle)"
+      ],
+      "pick_up(water_bottle)": [
+        "turn(water_bottle,anticlockwise, left_of_water_bottle)"
+      ],
+      "turn(water_bottle,anticlockwise, left_of_water_bottle)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2434.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_28951",
+    "actions_list": [
+      "move_to(none, coffee_capsules)",
+      "grasp(coffee_capsules)",
+      "pick_up(coffee_capsules)",
+      "move_to(coffee_capsules，coffee_machine)",
+      "place(coffee_capsules，coffee_machine)",
+      "move_to(none, trash_can_lid)",
+      "press(trash_can_lid)"
+    ],
+    "gt_dag": {
+      "move_to(none, coffee_capsules)": [
+        "grasp(coffee_capsules)"
+      ],
+      "grasp(coffee_capsules)": [
+        "pick_up(coffee_capsules)"
+      ],
+      "pick_up(coffee_capsules)": [
+        "move_to(coffee_capsules，coffee_machine)"
+      ],
+      "move_to(coffee_capsules，coffee_machine)": [
+        "place(coffee_capsules，coffee_machine)"
+      ],
+      "place(coffee_capsules，coffee_machine)": [],
+      "move_to(none, trash_can_lid)": [
+        "press(trash_can_lid)"
+      ],
+      "press(trash_can_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_28951.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2634",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, next_of_palte)",
+      "place(cup, next_of_palte)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, next_of_palte)"
+      ],
+      "move_to(cup, next_of_palte)": [
+        "place(cup, next_of_palte)"
+      ],
+      "place(cup, next_of_palte)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2634.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_playmahjong_episode_0",
+    "actions_list": [
+      "move_to(none, bird_mahjong_tile)",
+      "grasp(bird_mahjong_tile)",
+      "pick_up(mahjong_tile)",
+      "move_to(mahjong_tile, middle_of_desktop)",
+      "place(mahjong_tile, middle_of_desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, bird_mahjong_tile)": [
+        "grasp(bird_mahjong_tile)"
+      ],
+      "grasp(bird_mahjong_tile)": [
+        "pick_up(mahjong_tile)"
+      ],
+      "pick_up(mahjong_tile)": [
+        "move_to(mahjong_tile, middle_of_desktop)"
+      ],
+      "move_to(mahjong_tile, middle_of_desktop)": [
+        "place(mahjong_tile, middle_of_desktop)"
+      ],
+      "place(mahjong_tile, middle_of_desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_RDT-FT_imgs_1_playmahjong_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2518",
+    "actions_list": [
+      "move_to(none, stir_rod)",
+      "grasp(stir_rod)",
+      "pick_up(stir_rod)",
+      "move_to(stir_rod, pot)",
+      "stir(stir_rod, none,pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, stir_rod)": [
+        "grasp(stir_rod)"
+      ],
+      "grasp(stir_rod)": [
+        "pick_up(stir_rod)"
+      ],
+      "pick_up(stir_rod)": [
+        "move_to(stir_rod, pot)"
+      ],
+      "move_to(stir_rod, pot)": [
+        "stir(stir_rod, none,pot)"
+      ],
+      "stir(stir_rod, none,pot)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2518.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_9078",
+    "actions_list": [
+      "move_to(none, spice_container)",
+      "grasp(spice_container)",
+      "pick_up(spice_container)",
+      "move_to(spice_container, fying_pan)",
+      "pour(spice_container, spice, fying_pan)"
+    ],
+    "gt_dag": {
+      "move_to(none, spice_container)": [
+        "grasp(spice_container)"
+      ],
+      "grasp(spice_container)": [
+        "pick_up(spice_container)"
+      ],
+      "pick_up(spice_container)": [
+        "move_to(spice_container, fying_pan)"
+      ],
+      "move_to(spice_container, fying_pan)": [
+        "pour(spice_container, spice, fying_pan)"
+      ],
+      "pour(spice_container, spice, fying_pan)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_9078.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2616",
+    "actions_list": [
+      "move_to(none, trash)",
+      "grasp(trash)",
+      "pick_up(trash)",
+      "move_to(trash,countertop)",
+      "place(trash, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, trash)": [
+        "grasp(trash)"
+      ],
+      "grasp(trash)": [
+        "pick_up(trash)"
+      ],
+      "pick_up(trash)": [
+        "move_to(trash,countertop)"
+      ],
+      "move_to(trash,countertop)": [
+        "place(trash, countertop)"
+      ],
+      "place(trash, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2616.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_369",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "wipe(cloth, none, desktop)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "wipe(cloth, none, desktop)"
+      ],
+      "wipe(cloth, none, desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_369.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2992",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "turn(cup, anticlockwise, overturn)",
+      "move_to(cup, counter_top)",
+      "place(cup, counter_top)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "turn(cup, anticlockwise, overturn)"
+      ],
+      "turn(cup, anticlockwise, overturn)": [
+        "move_to(cup, counter_top)"
+      ],
+      "move_to(cup, counter_top)": [
+        "place(cup, counter_top)"
+      ],
+      "place(cup, counter_top)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2992.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2460",
+    "actions_list": [
+      "move_to(none, microwave_door)",
+      "grasp(microwave_door_handle)",
+      "pull(microwave_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_door)": [
+        "grasp(microwave_door_handle)"
+      ],
+      "grasp(microwave_door_handle)": [
+        "pull(microwave_door,open)"
+      ],
+      "pull(microwave_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2460.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13417",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl, right_side_of_desktop)",
+      "place(bowl, right_side_of_desktop)",
+      "move_to(none, plate)",
+      "grasp(plate)",
+      "pick_up(plate)",
+      "move_to(plate, right_side_of_desktop)",
+      "place(plate, right_side_of_desktop)",
+      "move_to(none, microwave_door)",
+      "grasp(microwave_door)",
+      "pick_up(microwave_door)",
+      "pull(microwave_door, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, right_side_of_desktop)"
+      ],
+      "move_to(bowl, right_side_of_desktop)": [
+        "place(bowl, right_side_of_desktop)"
+      ],
+      "place(bowl, right_side_of_desktop)": [
+        "move_to(none, plate)"
+      ],
+      "move_to(none, plate)": [
+        "grasp(plate)"
+      ],
+      "grasp(plate)": [
+        "pick_up(plate)"
+      ],
+      "pick_up(plate)": [
+        "move_to(plate, right_side_of_desktop)"
+      ],
+      "move_to(plate, right_side_of_desktop)": [
+        "place(plate, right_side_of_desktop)"
+      ],
+      "place(plate, right_side_of_desktop)": [
+        "move_to(none, microwave_door)"
+      ],
+      "move_to(none, microwave_door)": [
+        "grasp(microwave_door)"
+      ],
+      "grasp(microwave_door)": [
+        "pick_up(microwave_door)"
+      ],
+      "pick_up(microwave_door)": [
+        "pull(microwave_door, open)"
+      ],
+      "pull(microwave_door, open)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_13417.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3040",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, right_of_the_glass)",
+      "place(cup, right_of_the_glass)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, right_of_the_glass)"
+      ],
+      "move_to(cup, right_of_the_glass)": [
+        "place(cup, right_of_the_glass)"
+      ],
+      "place(cup, right_of_the_glass)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3040.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13596",
+    "actions_list": [
+      "move_to(none, toothpaste)",
+      "grasp(toothpaste)",
+      "pick_up(toothpaste)",
+      "move_to(toothpaste, countertop)",
+      "place(toothpaste, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, toothpaste)": [
+        "grasp(toothpaste)"
+      ],
+      "grasp(toothpaste)": [
+        "pick_up(toothpaste)"
+      ],
+      "pick_up(toothpaste)": [
+        "move_to(toothpaste, countertop)"
+      ],
+      "move_to(toothpaste, countertop)": [
+        "place(toothpaste, countertop)"
+      ],
+      "place(toothpaste, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_13596.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, glass)",
+      "grasp(glass_base)",
+      "pick_up(glass)",
+      "move_to(glass, wooden_stand)",
+      "place(glass, wooden_stand)"
+    ],
+    "gt_dag": {
+      "move_to(none, glass)": [
+        "grasp(glass_base)"
+      ],
+      "grasp(glass_base)": [
+        "pick_up(glass)"
+      ],
+      "pick_up(glass)": [
+        "move_to(glass, wooden_stand)"
+      ],
+      "move_to(glass, wooden_stand)": [
+        "place(glass, wooden_stand)"
+      ],
+      "place(glass, wooden_stand)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2439",
+    "actions_list": [
+      "move_to(none, box_lid)",
+      "grasp(box_lid)",
+      "turn(box_lid, clockwise, open)",
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, box)",
+      "place(cup, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, box_lid)": [
+        "grasp(box_lid)"
+      ],
+      "grasp(box_lid)": [
+        "turn(box_lid, clockwise, open)"
+      ],
+      "turn(box_lid, clockwise, open)": [
+        "move_to(none, cup)"
+      ],
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, box)"
+      ],
+      "move_to(cup, box)": [
+        "place(cup, box)"
+      ],
+      "place(cup, box)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2439.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3029",
+    "actions_list": [
+      "move_to(none, roll_of_paper)",
+      "grasp(roll_of_paper)",
+      "pick_up(roll_of_paper)",
+      "move_to(roll_of_paper,countertop)",
+      "place(roll_of_paper,countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, roll_of_paper)": [
+        "grasp(roll_of_paper)"
+      ],
+      "grasp(roll_of_paper)": [
+        "pick_up(roll_of_paper)"
+      ],
+      "pick_up(roll_of_paper)": [
+        "move_to(roll_of_paper,countertop)"
+      ],
+      "move_to(roll_of_paper,countertop)": [
+        "place(roll_of_paper,countertop)"
+      ],
+      "place(roll_of_paper,countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3029.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3384",
+    "actions_list": [
+      "move_to(none, bread)",
+      "grasp(bread)",
+      "pick_up(bread)",
+      "move_to(bread, toaster)",
+      "insert(bread, toaster)",
+      "move_to(none, toaster_switch)",
+      "press(toaster_switch)"
+    ],
+    "gt_dag": {
+      "move_to(none, bread)": [
+        "grasp(bread)"
+      ],
+      "grasp(bread)": [
+        "pick_up(bread)"
+      ],
+      "pick_up(bread)": [
+        "move_to(bread, toaster)"
+      ],
+      "move_to(bread, toaster)": [
+        "insert(bread, toaster)"
+      ],
+      "insert(bread, toaster)": [
+        "move_to(none, toaster_switch)"
+      ],
+      "move_to(none, toaster_switch)": [
+        "press(toaster_switch)"
+      ],
+      "press(toaster_switch)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3384.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2872",
+    "actions_list": [
+      "move_to(none, left_corner_of_the_cloth)",
+      "grasp(left_corner_of_the_cloth)",
+      "unfold(cloth, right_of_the_cloth)",
+      "place(cloth, countertop)",
+      "move_to(none, left_corner_of_the_cloth)",
+      "grasp(left_corner_of_the_cloth)",
+      "unfold(cloth, left_of_the_cloth)",
+      "place(cloth, countertop)",
+      "move_to(none, right_upper_corner_of_the_cloth)",
+      "grasp(right_upper_corner_of_the_cloth)",
+      "unfold(cloth, left_of_the_cloth)",
+      "place(cloth, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_corner_of_the_cloth)": [
+        "grasp(left_corner_of_the_cloth)"
+      ],
+      "grasp(left_corner_of_the_cloth)": [
+        "unfold(cloth, right_of_the_cloth)"
+      ],
+      "unfold(cloth, right_of_the_cloth)": [
+        "place(cloth, countertop)"
+      ],
+      "place(cloth, countertop)": [
+        "move_to(none, left_corner_of_the_cloth)<1>"
+      ],
+      "unfold(cloth, left_of_the_cloth)": [
+        "place(cloth, countertop)<1>"
+      ],
+      "move_to(none, right_upper_corner_of_the_cloth)": [
+        "grasp(right_upper_corner_of_the_cloth)"
+      ],
+      "grasp(right_upper_corner_of_the_cloth)": [
+        "unfold(cloth, left_of_the_cloth)<1>"
+      ],
+      "move_to(none, left_corner_of_the_cloth)<1>": [
+        "grasp(left_corner_of_the_cloth)<1>"
+      ],
+      "grasp(left_corner_of_the_cloth)<1>": [
+        "unfold(cloth, left_of_the_cloth)"
+      ],
+      "place(cloth, countertop)<1>": [
+        "move_to(none, right_upper_corner_of_the_cloth)"
+      ],
+      "unfold(cloth, left_of_the_cloth)<1>": [
+        "place(cloth, countertop)<2>"
+      ],
+      "place(cloth, countertop)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2872.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_pick_larger_value_episode_0",
+    "actions_list": [
+      "move_to(none, white_poker_chip)",
+      "grasp(white_poker_chip)",
+      "pick_up(white_poker_chip)",
+      "move_to(white_poker_chip, cup)",
+      "place(white_poker_chip, cup)",
+      "move_to(none, red_poker_chip)",
+      "grasp(red_poker_chip)",
+      "pick_up(red_poker_chip)",
+      "move_to(red_poker_chip, cup)",
+      "place(red_poker_chip, cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_poker_chip)": [
+        "grasp(white_poker_chip)"
+      ],
+      "grasp(white_poker_chip)": [
+        "pick_up(white_poker_chip)"
+      ],
+      "pick_up(white_poker_chip)": [
+        "move_to(white_poker_chip, cup)"
+      ],
+      "move_to(white_poker_chip, cup)": [
+        "place(white_poker_chip, cup)"
+      ],
+      "place(white_poker_chip, cup)": [
+        "move_to(none, red_poker_chip)"
+      ],
+      "move_to(none, red_poker_chip)": [
+        "grasp(red_poker_chip)"
+      ],
+      "grasp(red_poker_chip)": [
+        "pick_up(red_poker_chip)"
+      ],
+      "pick_up(red_poker_chip)": [
+        "move_to(red_poker_chip, cup)"
+      ],
+      "move_to(red_poker_chip, cup)": [
+        "place(red_poker_chip, cup)"
+      ],
+      "place(red_poker_chip, cup)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_RDT-FT_imgs_1_pick_larger_value_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2962",
+    "actions_list": [
+      "move_to(none, napkin_dispenser)",
+      "grasp(napkin)",
+      "pull(napkin, none)",
+      "move_to(napkin, countertop)",
+      "place(napkin, countertop)",
+      "move_to(none, black_cup)",
+      "grasp(black_cup_handle)",
+      "pick_up(black_cup)",
+      "move_to(black_cup, napkin)",
+      "place(black_cup, napkin)"
+    ],
+    "gt_dag": {
+      "move_to(none, napkin_dispenser)": [
+        "grasp(napkin)"
+      ],
+      "grasp(napkin)": [
+        "pull(napkin, none)"
+      ],
+      "pull(napkin, none)": [
+        "move_to(napkin, countertop)"
+      ],
+      "move_to(napkin, countertop)": [
+        "place(napkin, countertop)"
+      ],
+      "place(napkin, countertop)": [
+        "move_to(none, black_cup)"
+      ],
+      "move_to(none, black_cup)": [
+        "grasp(black_cup_handle)"
+      ],
+      "grasp(black_cup_handle)": [
+        "pick_up(black_cup)"
+      ],
+      "pick_up(black_cup)": [
+        "move_to(black_cup, napkin)"
+      ],
+      "move_to(black_cup, napkin)": [
+        "place(black_cup, napkin)"
+      ],
+      "place(black_cup, napkin)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2962.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_41031",
+    "actions_list": [
+      "move_to(none, door_handle)",
+      "grasp(door_handle)",
+      "pull(door_handle, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, door_handle)": [
+        "grasp(door_handle)"
+      ],
+      "grasp(door_handle)": [
+        "pull(door_handle, close)"
+      ],
+      "pull(door_handle, close)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_41031.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1",
+    "actions_list": [
+      "move_to(none, speaker)",
+      "grasp(speaker_switch)",
+      "turn(speaker, clockwise, none)"
+    ],
+    "gt_dag": {
+      "move_to(none, speaker)": [
+        "grasp(speaker_switch)"
+      ],
+      "grasp(speaker_switch)": [
+        "turn(speaker, clockwise, none)"
+      ],
+      "turn(speaker, clockwise, none)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2055",
+    "actions_list": [
+      "move_to(none, first_snack)",
+      "grasp(snack)",
+      "pick_up(snack)",
+      "move_to(snack, purple_plate)",
+      "place(snack, purple_plate)",
+      "move_to(none, first_drink)",
+      "grasp(drink)",
+      "pick_up(drink)",
+      "move_to(drink, white_plate)",
+      "place(drink, white_plate)",
+      "move_to(none, second_drink)",
+      "grasp(drink)",
+      "pick_up(drink)",
+      "move_to(drink, white_plate)",
+      "place(drink, white_plate)",
+      "move_to(none, second_snack)",
+      "grasp(snack)",
+      "pick_up(snack)",
+      "move_to(snack, purple_plate)",
+      "place(snack, purple_plate)",
+      "move_to(none, third_drink)",
+      "grasp(drink)",
+      "pick_up(drink)",
+      "move_to(drink, white_plate)",
+      "place(drink, white_plate)",
+      "move_to(none, third_snack)",
+      "grasp(snack)",
+      "pick_up(snack)",
+      "move_to(snack, purple_plate)",
+      "place(snack, purple_plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, first_snack)": [
+        "grasp(snack)"
+      ],
+      "grasp(snack)": [
+        "pick_up(snack)"
+      ],
+      "pick_up(snack)": [
+        "move_to(snack, purple_plate)"
+      ],
+      "move_to(snack, purple_plate)": [
+        "place(snack, purple_plate)"
+      ],
+      "place(snack, purple_plate)": [],
+      "move_to(none, first_drink)": [
+        "grasp(drink)"
+      ],
+      "grasp(drink)": [
+        "pick_up(drink)"
+      ],
+      "pick_up(drink)": [
+        "move_to(drink, white_plate)"
+      ],
+      "move_to(drink, white_plate)": [
+        "place(drink, white_plate)"
+      ],
+      "place(drink, white_plate)": [],
+      "move_to(none, second_drink)": [
+        "grasp(drink)<1>"
+      ],
+      "move_to(none, second_snack)": [
+        "grasp(snack)<1>"
+      ],
+      "move_to(none, third_drink)": [
+        "grasp(drink)<2>"
+      ],
+      "move_to(none, third_snack)": [
+        "grasp(snack)<2>"
+      ],
+      "grasp(drink)<1>": [
+        "pick_up(drink)<1>"
+      ],
+      "pick_up(drink)<1>": [
+        "move_to(drink, white_plate)<1>"
+      ],
+      "move_to(drink, white_plate)<1>": [
+        "place(drink, white_plate)<1>"
+      ],
+      "place(drink, white_plate)<1>": [],
+      "grasp(snack)<1>": [
+        "pick_up(snack)<1>"
+      ],
+      "pick_up(snack)<1>": [
+        "move_to(snack, purple_plate)<1>"
+      ],
+      "move_to(snack, purple_plate)<1>": [
+        "place(snack, purple_plate)<1>"
+      ],
+      "place(snack, purple_plate)<1>": [],
+      "grasp(drink)<2>": [
+        "pick_up(drink)<2>"
+      ],
+      "pick_up(drink)<2>": [
+        "move_to(drink, white_plate)<2>"
+      ],
+      "move_to(drink, white_plate)<2>": [
+        "place(drink, white_plate)<2>"
+      ],
+      "place(drink, white_plate)<2>": [],
+      "grasp(snack)<2>": [
+        "pick_up(snack)<2>"
+      ],
+      "pick_up(snack)<2>": [
+        "move_to(snack, purple_plate)<2>"
+      ],
+      "move_to(snack, purple_plate)<2>": [
+        "place(snack, purple_plate)<2>"
+      ],
+      "place(snack, purple_plate)<2>": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2055.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2859",
+    "actions_list": [
+      "move_to(none, cabinet_door_handle)",
+      "grasp(cabinet_door_handle)",
+      "pull(cabinet_door, open)",
+      "move_to(none, green_pepper)",
+      "grasp(green_pepper)",
+      "pick_up(green_pepper)",
+      "move_to(green_pepper, bowl)",
+      "place(green_pepper, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door_handle)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "pull(cabinet_door, open)"
+      ],
+      "pull(cabinet_door, open)": [
+        "move_to(none, green_pepper)"
+      ],
+      "move_to(none, green_pepper)": [
+        "grasp(green_pepper)"
+      ],
+      "grasp(green_pepper)": [
+        "pick_up(green_pepper)"
+      ],
+      "pick_up(green_pepper)": [
+        "move_to(green_pepper, bowl)"
+      ],
+      "move_to(green_pepper, bowl)": [
+        "place(green_pepper, bowl)"
+      ],
+      "place(green_pepper, bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2859.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3476",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, box)",
+      "place(cloth, box)",
+      "press(cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, box)"
+      ],
+      "move_to(cloth, box)": [
+        "place(cloth, box)"
+      ],
+      "place(cloth, box)": [
+        "press(cloth)"
+      ],
+      "press(cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3476.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3292",
+    "actions_list": [
+      "move_to(none, rice_cooker_lid)",
+      "press(rice_cooker_lid)"
+    ],
+    "gt_dag": {
+      "move_to(none, rice_cooker_lid)": [
+        "press(rice_cooker_lid)"
+      ],
+      "press(rice_cooker_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3292.png"
+  }
+]
\ No newline at end of file
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+[
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3164_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Cover the lid of the kettle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-move_to(none, kettle_lid),2-press(kettle_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2597_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hang a bag on a hook> as the goal, steps so far are shown in the video, is step 3-pick_up(bag) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a potato chips can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, chips_can),2-grasp(chips_can),3-pick_up(chips_can),4-pull(chips_can, none),5-move_to(chips_can,table),6-place(chips_can,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_0_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a potato chips can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pull(chips_can, none)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a potato chips can> as the goal, steps so far are shown in the video, is step 2-grasp(chips_can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3261_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning off a running faucet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-move_to(none, faucet_switch),2-press(faucet_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2438_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on the light> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-move_to(none, light_switch),2-press(light_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2438_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on the light> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-press(light_switch)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2438_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turn on the light> as the goal, steps so far are shown in the video, is step 1-move_to(none, light_switch) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a bottle with water> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, under_of_water_dispenser_tap),5-pick_up(bottle),6-hold(bottle),7-place(bottle, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <filling a bottle with water> as the goal, steps so far are shown in the video, is step 3-pick_up(bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2910_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the food into the pot, stir and cover it with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 27 steps.",
+    "gt_answer": "1-move_to(pot_lid),2-grasp(pot_lid_handle),3-pick_up(pot_lid),4-move_to(pot_lid, desktop),5-place(pot_lid, desktop),6-move_to(none, food_on_bowl),7-grasp(food),8-pick_up(food),9-move_to(food, pot),10-place(food, pot),11-move_to(none, napkin),12-grasp(napkin),13-pick_up(napkin),14-move_to(napkin, desktop),15-place(napkin, desktop),16-move_to(none, spoon),17-grasp(spoon_handle),18-pick_up(spoon),19-move_to(spoon, inside_of_pot),20-stir(spoon, food, pot),21-move_to(spoon, desktop),22-place(spoon, desktop),23-move_to(none, pot_lid),24-grasp(pot_lid),25-pick_up(pot_lid),26-move_to(pot_lid, pot),27-place(pot_lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2447_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the food into the wok and cover it with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
+    "gt_answer": "1-move_to(none, lid),2-grasp(lid_handle),3-pick_up(lid),4-move_to(lid, counter),5-place(lid, counter),6-move_to(none, first_food),7-grasp(first_food),8-pick_up(first_food),9-move_to(first_food,frying_pan),10-place(first_food,frying_pan),11-move_to(none, second_food),12-grasp(second_food),13-pick_up(second_food),14-move_to(second_food,frying_pan),15-place(second_food,frying_pan),16-move_to(none, third_food),17-grasp(third_food),18-pick_up(third_food),19-move_to(third_food,frying_pan),20-place(third_food,frying_pan),21-move_to(none, lid),22-grasp(lid_handle),23-pick_up(lid),24-move_to(lid,frying_pan),25-place(lid,frying_pan)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2447_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the food into the wok and cover it with a lid> as the goal, steps so far are shown in the video, is step 7-grasp(first_food) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_571_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put all the objects on the table into the bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 40 steps.",
+    "gt_answer": "1-grasp(green_ball),\n2-pick_up(green_ball),\n3-place(green_ball,bowl),\n4-grasp(second_green_ball),\n5-pick_up(second_green_ball),\n6-place(second_green_ball,bowl),\n7-grasp(first_yellow_ball),\n8-pick_up(first_yellow_ball),\n9-place(first_yellow_ball,bowl),\n10-grasp(banana),\n11-pick_up(banana),\n12-place(banana,bowl),\n13-grasp(apple),\n14-pick_up(apple),\n15-place(apple,bowl),\n16-grasp(red_ball),\n17-pick_up(red_ball),\n18-place(red_ball,bowl),\n19-grasp(second_yellow_ball),\n20-pick_up(second_yellow_ball),\n21-place(second_yellow_ball,bowl),\n22-grasp(pear),\n23-pick_up(pear),\n24-place(pear,bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_571_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put all the objects on the table into the bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "8-pick_up(first_yellow_ball)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_571_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put all the objects on the table into the bowl> as the goal, steps so far are shown in the video, is step 9-place(first_yellow_ball, bowl), 10-grasp(banana), 11-pick_up(banana), 12-place(banana, bowl), 13-grasp(apple), 14-pick_up(apple), 15-place(apple, bowl), 16-grasp(red_ball), 17-pick_up(red_ball), 18-place(red_ball, bowl), 19-grasp(second_yellow_ball), 20-pick_up(second_yellow_ball), 21-place(second_yellow_ball, bowl), 22-grasp(pear), 23-pick_up(pear), 24-place(pear, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2194_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a paper cup and placing it in the cup holder> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(paper_cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2194_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a paper cup and placing it in the cup holder> as the goal, steps so far are shown in the video, is step 1-move_to(none, paper_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2350_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the objects in the pool on the countertop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-move_to(can， countertop),5-place(none, can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2350_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the objects in the pool on the countertop> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2350_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the objects in the pool on the countertop> as the goal, steps so far are shown in the video, is step 1-move_to(none, can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2536_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Arrange the shoes on the shoe rack correctly> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, shoe),2-grasp(shoe),3-pick_up(shoe),4-turn(shoe, anticlockwise, left_of_shoe),5-place(shoe, shoe_rack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2536_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Arrange the shoes on the shoe rack correctly> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(shoe)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2536_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Arrange the shoes on the shoe rack correctly> as the goal, steps so far are shown in the video, is step 2-grasp(shoe) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1023_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put all the food on the table into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
+    "gt_answer": "1-move_to(none, lid),2-grasp(lid_handle),3-pick_up(lid),4-move_to(lid,countertop),5-place(lid,countertop),6-move_to(none, first_food),7-grasp(first_food),8-pick_up(first_food),9-move_to(first_food,pot),10-place(first_food, pot),11-move_to(none, second_food),12-grasp(second_food),13-pick_up(second_food),14-move_to(second_food,pot),15-place(second_food, pot),16-move_to(none, third_food),17-grasp(third_food),18-pick_up(third_food),19-move_to(third_food,pot),20-place(third_food, pot),21-move_to(none, lid),22-grasp(lid_handlle),23-pick_up(lid),24-move_to(lid, pot),25-place(lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1023_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put all the food on the table into the pot> as the goal, steps so far are shown in the video, is step 6-move_to(none, first_food) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2256_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the food in the tray on the table and place the cans from the brand on the tray> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
+    "gt_answer": "1-move_to(none, rag),2-grasp(rag),3-pick_up(rag),4-move_to(rag, desktop),5-place(rag, desktop),6-move_to(none, first_food),7-grasp(first_food),8-pick_up(first_food),9-move_to(first_food, desktop),10-place(first_food, desktop),11-move_to(none, second_food),12-grasp(second_food),13-pick_up(second_food),14-move_to(second_food, desktop),15-place(second_food, desktop),16-move_to(none, first_can),17-grasp(first_can),18-pick_up(first_can),19-move_to(first_can, tray),20-place(first_can, tray),21-move_to(none, second_can),22-grasp(second_can),23-pick_up(second_can),24-move_to(second_can, tray),25-place(second_can, tray)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2256_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the food in the tray on the table and place the cans from the brand on the tray> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(rag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2256_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the food in the tray on the table and place the cans from the brand on the tray> as the goal, steps so far are shown in the video, is step 3-pick_up(rag) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2444_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening window blinds> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, blinds_top),2-grasp(blinds_top),3-pull(blinds_rope, )",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2444_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening window blinds> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(blinds_top)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2444_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening window blinds> as the goal, steps so far are shown in the video, is step 1-move_to(none, blinds_top) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1032_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a washcloth twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, corner_of_washcloth),2-grasp(concer_of_washcloth),3-fold(washcloth, anticlockwise, left_of_washcloth),4-place(washcloth, countertop),5-move_to(none, corner_of_washcloth),6-grasp(concer_of_washcloth),7-fold(washcloth, anticlockwise, right_of_washcloth),8-place(washcloth, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1032_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a washcloth twice> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-place(washcloth, countertop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1032_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a washcloth twice> as the goal, steps so far are shown in the video, is step 4-place(washcloth, countertop) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_46681_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the socket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none, pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen, desktop),5-place(pen, desktop),6-move_to(none, napkin),7-grasp(napkin),8-pick_up(napkin),9-move_to(napkin, socket),10-wipe(napkin, none, socket),11-move_to(napkin, desktop),12-place(napkin, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_46681_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the socket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pen)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_46681_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the socket> as the goal, steps so far are shown in the video, is step 4-move_to(pen, desktop) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2434_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Arrange the water bottle correctly> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-turn(water_bottle,anticlockwise, left_of_water_bottle)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2434_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Arrange the water bottle correctly> as the goal, steps so far are shown in the video, is step 1-move_to(none, water_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_28951_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the coffee capsules into the coffee machine and close the trash can lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, coffee_capsules),2-grasp(coffee_capsules),3-pick_up(coffee_capsules),4-move_to(coffee_capsules，coffee_machine),5-place(coffee_capsules，coffee_machine),6-move_to(none, trash_can_lid),7-press(trash_can_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_28951_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the coffee capsules into the coffee machine and close the trash can lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(coffee_capsules)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_28951_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the coffee capsules into the coffee machine and close the trash can lid> as the goal, steps so far are shown in the video, is step 2-grasp(coffee_capsules) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2565_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With < Place the kettle on the base> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(kettle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2565_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With < Place the kettle on the base> as the goal, steps so far are shown in the video, is step 3-pick_up(kettle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2179_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <adjusting a pillow on a chair> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pillow)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2179_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <adjusting a pillow on a chair> as the goal, steps so far are shown in the video, is step 1-move_to(none, pillow) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2634_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cup next to the plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, next_of_palte),5-place(cup, next_of_palte)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2634_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cup next to the plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_playmahjong_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Choose a suitable mahjong tile> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bird_mahjong_tile),2-grasp(bird_mahjong_tile),3-pick_up(mahjong_tile),4-move_to(mahjong_tile, middle_of_desktop),5-place(mahjong_tile, middle_of_desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_playmahjong_episode_0_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Choose a suitable mahjong tile> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(mahjong_tile, middle_of_desktop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_playmahjong_episode_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Choose a suitable mahjong tile> as the goal, steps so far are shown in the video, is step 2-grasp(bird_mahjong_tile) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2518_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir the contents of the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, stir_rod),2-grasp(stir_rod),3-pick_up(stir_rod),4-move_to(stir_rod, pot),5-stir(stir_rod, none,pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2518_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir the contents of the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(stir_rod)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2518_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Stir the contents of the pot> as the goal, steps so far are shown in the video, is step 2-grasp(stir_rod) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_9078_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sprinkle spice into the frying pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spice_container),2-grasp(spice_container),3-pick_up(spice_container),4-move_to(spice_container, fying_pan),5-pour(spice_container, spice, fying_pan)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_9078_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sprinkle spice into the frying pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spice_container, fying_pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_9078_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sprinkle spice into the frying pan> as the goal, steps so far are shown in the video, is step 1-move_to(none, spice_container) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2616_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the trash in the pool on the countertop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, trash),2-grasp(trash),3-pick_up(trash),4-move_to(trash,countertop),5-place(trash, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2616_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the trash in the pool on the countertop> as the goal, steps so far are shown in the video, is step 2-grasp(trash) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_369_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wiping an object with a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-wipe(cloth, none, desktop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2992_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the paper cup over> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-turn(cup, anticlockwise, overturn),5-move_to(cup, counter_top),6-place(cup, counter_top)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2992_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the paper cup over> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-turn(cup, anticlockwise, overturn)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2992_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Flip the paper cup over> as the goal, steps so far are shown in the video, is step 2-grasp(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2460_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door),2-grasp(microwave_door_handle),3-pull(microwave_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2460_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(microwave_door, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2460_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13417_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 14 steps.",
+    "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, right_side_of_desktop),5-place(bowl, right_side_of_desktop),6-move_to(none, plate),7-grasp(plate),8-pick_up(plate),9-move_to(plate, right_side_of_desktop),10-place(plate, right_side_of_desktop),11-move_to(none, microwave_door),12-grasp(microwave_door),13-pick_up(microwave_door),14-pull(microwave_door, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13417_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13417_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave door> as the goal, steps so far are shown in the video, is step 3-pick_up(bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3040_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cup on the right side of the glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, right_of_the_glass),5-place(cup, right_of_the_glass)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3040_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cup on the right side of the glass> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3040_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cup on the right side of the glass> as the goal, steps so far are shown in the video, is step 2-grasp(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13596_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the toothpaste out of the sink and place it on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, toothpaste),2-grasp(toothpaste),3-pick_up(toothpaste),4-move_to(toothpaste, countertop),5-place(toothpaste, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13596_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the toothpaste out of the sink and place it on the counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(toothpaste)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13596_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the toothpaste out of the sink and place it on the counter> as the goal, steps so far are shown in the video, is step 2-grasp(toothpaste) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a glass on a stand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, glass),2-grasp(glass_base),3-pick_up(glass),4-move_to(glass, wooden_stand),5-place(glass, wooden_stand)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a glass on a stand> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(glass_base)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a glass on a stand> as the goal, steps so far are shown in the video, is step 1-move_to(none, glass) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2439_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cup into the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, box_lid),2-grasp(box_lid),3-turn(box_lid, clockwise, open),4-move_to(none, cup),5-grasp(cup),6-pick_up(cup),7-move_to(cup, box),8-place(cup, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2439_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cup into the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(box_lid, clockwise, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2439_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cup into the box> as the goal, steps so far are shown in the video, is step 2-grasp(box_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3029_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the roll of paper on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, roll_of_paper),2-grasp(roll_of_paper),3-pick_up(roll_of_paper),4-move_to(roll_of_paper,countertop),5-place(roll_of_paper,countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3029_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the roll of paper on the counter> as the goal, steps so far are shown in the video, is step 1-move_to(none, roll_of_paper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3384_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <toasting bread> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bread),2-grasp(bread),3-pick_up(bread),4-move_to(bread, toaster),5-insert(bread, toaster),6-move_to(none, toaster_switch),7-press(toaster_switch)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3384_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <toasting bread> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bread)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3384_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <toasting bread> as the goal, steps so far are shown in the video, is step 1-move_to(none, bread) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2872_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a piece of cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none, left_corner_of_the_cloth),2-grasp(left_corner_of_the_cloth),3-unfold(cloth, right_of_the_cloth),4-place(cloth, countertop),5-move_to(none, left_corner_of_the_cloth),6-grasp(left_corner_of_the_cloth),7-unfold(cloth, left_of_the_cloth),8-place(cloth, countertop),9-move_to(none, right_upper_corner_of_the_cloth),10-grasp(right_upper_corner_of_the_cloth),11-unfold(cloth, left_of_the_cloth),12-place(cloth, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2872_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a piece of cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-place(cloth, countertop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2872_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a piece of cloth> as the goal, steps so far are shown in the video, is step 6-grasp(left_corner_of_the_cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_pick_larger_value_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place large poker chips into the cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, red_poker_chip),2-grasp(red_poker_chip),3-pick_up(red_poker_chip),4-move_to(red_poker_chip, cup),5-place(red_poker_chip, cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_pick_larger_value_episode_0_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place large poker chips into the cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(red_poker_chip)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_pick_larger_value_episode_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place large poker chips into the cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, red_poker_chip) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2962_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take a piece of napkin and place it on the table, then put the cup on the paper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, napkin_dispenser),2-grasp(napkin),3-pull(napkin, none),4-move_to(napkin, countertop),5-place(napkin, countertop),6-move_to(none, black_cup),7-grasp(black_cup_handle),8-pick_up(black_cup),9-move_to(black_cup, napkin),10-place(black_cup, napkin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2962_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take a piece of napkin and place it on the table, then put the cup on the paper> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(napkin, none)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2962_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take a piece of napkin and place it on the table, then put the cup on the paper> as the goal, steps so far are shown in the video, is step 4-move_to(napkin, countertop) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_41031_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Closing a door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-pull(door_handle, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_41031_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Closing a door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(door_handle, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_41031_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Closing a door> as the goal, steps so far are shown in the video, is step 1-move_to(none, door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Turn up the volume of the speaker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, speaker),2-grasp(speaker_switch),3-turn(speaker, clockwise, none)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Turn up the volume of the speaker> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(speaker_switch)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Turn up the volume of the speaker> as the goal, steps so far are shown in the video, is step 1-move_to(none, speaker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2055_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the drinks on the white plate and the small snacks on the purple plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 30 steps.",
+    "gt_answer": "1-move_to(none, first_snack),2-grasp(snack),3-pick_up(snack),4-move_to(snack, purple_plate),5-place(snack, purple_plate),6-move_to(none, first_drink),7-grasp(drink),8-pick_up(drink),9-move_to(drink, white_plate),10-place(drink, white_plate),11-move_to(none, second_drink),12-grasp(drink),13-pick_up(drink),14-move_to(drink, white_plate),15-place(drink, white_plate),16-move_to(none, second_snack),17-grasp(snack),18-pick_up(snack),19-move_to(snack, purple_plate),20-place(snack, purple_plate),21-move_to(none, third_drink),22-grasp(drink),23-pick_up(drink),24-move_to(none, third_snack),25-grasp(snack),26-pick_up(snack),27-move_to(snack, purple_plate),28-place(snack, purple_plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2055_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the drinks on the white plate and the small snacks on the purple plate> as the goal, steps so far are shown in the video, is step 4-move_to(snack, purple_plate) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2859_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Open the cabinet door and put the green pepper into the bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door_handle),2-grasp(cabinet_door_handle),3-pull(cabinet_door, open),4-move_to(none, green_pepper),5-grasp(green_pepper),6-pick_up(green_pepper),7-move_to(green_pepper, bowl),8-place(green_pepper, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2859_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Open the cabinet door and put the green pepper into the bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cabinet_door_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2859_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Open the cabinet door and put the green pepper into the bowl> as the goal, steps so far are shown in the video, is step 2-grasp(cabinet_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3476_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put a piece of cloth into the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, box),5-place(cloth, box),6-press(cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3476_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put a piece of cloth into the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-press(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3476_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put a piece of cloth into the box> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3292_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a rice cooker lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-move_to(none, rice_cooker_lid),2-press(rice_cooker_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3292_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a rice cooker lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-press(rice_cooker_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3292_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_object",
+      "world_knowledge"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a rice cooker lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, rice_cooker_lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  }
+]
\ No newline at end of file