VLM task planner running...
System prompt
You are a helpful assistant for a legged robot equipped with a single arm and a two-finger gripper. You specialize in task planning, and you always suggest the plan that is most likely to fulfill the task. You learn and adapt from previous experience in the long-term memory and also the current short-term memory (especially the action failures). Always apply chain-of-thought reasoning by thinking step by step before making a final decision.
User prompt
The robot received this instruction from the user: Put the apple on the plate.
Here's the robot's current observation.
Here is the action history for the current task so far for reference:
{
"time_step": 1,
"action": {
"scene_description": "The apple is on the table, to the right of the robot's gripper. A salt container is next to the apple on its right side. A plate is on the left side of the table, away from the apple.",
"chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is directly on the table, so it can be picked up. The plate is empty and accessible, making it suitable for placing the apple. Since the apple is not tiny or flat, it can be picked up. The salt container is next to the apple, but it does not obstruct the pick action. Therefore, the best action is to pick up the apple.",
"chosen_action": "Pick up the apple.",
"chosen_skill": "pick",
"target_object": "apple",
"should_grasp_at_specific_section": false
}
}
{
"time_step": 1,
"evaluation": {
"scene_description": "Before the action, the apple was positioned on the table to the right of the plate, with a container next to it. After the action, the apple remains in the same position, indicating no movement or lifting occurred.",
"is_action_successful": false,
"is_task_completed": false
}
}
{
"time_step": 1,
"additional_info": "The human operator might have reset the scene after the action failure."
}
{
"time_step": 2,
"action": {
"scene_description": "The apple is on the table, to the right of the robot's gripper. A salt container is next to the apple on its right side. A plate is on the left side of the table, away from the apple.",
"applicable_knowledge": "The previous attempt to pick up the apple failed. To avoid repeating the same action, consider rearranging the scene by moving the salt container first.",
"chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, so repeating the pick action immediately is not advisable. The salt container is next to the apple and might be interfering with the pick action. By pushing the salt container to the right, the apple will be more accessible for a subsequent pick action. This does not violate any constraints, as the salt container is directly on the table and can be pushed.",
"chosen_action": "Push the salt container to the right.",
"chosen_skill": "push",
"target_object": "salt container",
"push_direction": "right"
}
}
{
"time_step": 2,
"evaluation": {
"scene_description": "Before the action, the apple was on the right side of the table, with the salt container between the apple and the plate. After the action, the salt container was moved to the right, away from the apple and the plate. The apple and plate remained in their original positions.",
"is_action_successful": true,
"is_task_completed": false
}
}
{
"time_step": 3,
"action": {
"scene_description": "The apple is on the table, to the right of the robot's gripper. A salt container is on the far right of the table. A plate is on the left side of the table, away from the apple.",
"applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to positioning or grasping issues. The salt container has been moved away, so the apple is now more accessible.",
"chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is directly on the table and is now more accessible since the salt container has been moved. The previous failure to pick up the apple suggests a need for careful grasping. Since the apple is not tiny or flat, it should be possible to pick it up. There are no constraints preventing the pick action now, so the best action is to attempt to pick up the apple again.",
"chosen_action": "Pick up the apple.",
"chosen_skill": "pick",
"target_object": "apple",
"should_grasp_at_specific_section": false
}
}
{
"time_step": 3,
"evaluation": {
"scene_description": "Before the action, the apple was on the table, positioned between a plate on the left and a container on the right. After the action, the apple is held by the robot's gripper, lifted from its original position on the table.",
"is_action_successful": true,
"is_task_completed": false
}
}
This contains the actions proposed and executed, and the feedback after the action execution. Learn from the experience (including past and active logs) and adapt if needed.
Given the current scene and task, choose the next best action.
HARD CONSTRAINTS TO APPLY:
- PUSH only works on objects directly on the table (nothing can be between the object and the table). PICK and PLACE would also work.
- If the objective is to put an object on top of another object, you must use PICK and PLACE. PUSH would not work. Similarly, you cannot PUSH an object off another object because it is not directly on the table.
- When two objects are next to each other, it's infeasible to directly PUSH the object that is behind the other one.
- If the robot is holding something, it must PLACE that object before attempting to grasp another.
- When the target object is tiny or flat, which is hard to grasp, you cannot use PICK.
- In the case of action failure, never repeat the same action immediately without first rearranging the scene yourself. This is because the same failure is mostly likely to occur, whether the scene has been reset or not. Instead, consider whether other actions could be taken.
- Never give a suggestion on how to better execute a failed action—the robot cannot understand or adapt to such advice.
GENERAL RULES:
- Could interacting with other objects help? You are allowed to interact with any other objects on the table.
- Any object on the table can be used as a tool (all are clean and safe to handle). Be creative! But remember to always PICK up the tool first before using it.
- In the reasoning process, first propose a promising action, then check whether it violates any constraints, one by one. If it does, discard it and propose another. Repeat this until you find a promising action that satisfies all constraints.
ACTION PARAMETERS:
- For the pick up, if the object needs to be grasped at a specific section, you must specify that as well.
- For the place action, you need to specify which object to place the target object on (not next to). If the object needs to be placed at a specific section, you must specify that as well.
- For the push action, you need to specify the direction to push (left or right). When both push directions work, prefer pushing left if the object is on the left to the gripper; right if on the right.
Output your final decision in the specified structured format. A human operator may have reset the scene to its initial state after the failure.
Based on the above image, task and action, output your structured evaluation.
SUCCESS CRITERIA FOR ACTION AND TASK
- For picking up objects, if the object is not lying flat on the table at the original location, you might consider it a success. It can be tilted, still touching the table, or appear to be not lifted, and it still might be considered a success.
- For pushing an object toward another object, if these objects are getting much closer, you may consider it a success (they do not need to be touching each other or super close). If the push causes the target object to tip over (but not broken), it is still considered as a success.
- For placing, if the object is roughly placed on the target object, it might be considered as a success. It does not need to be perfectly placed on the center of the target object.
FAILURE CRITERIA FOR ACTION AND TASK
- Always a failure if the robot breaks or drops other objects unintentionally, you must consider it a failure for the current action and thus the overall task (regardless of how it performs).
- Action failure if the action clearly did not achieve its goal (e.g., gripper missed entirely, object didn’t move at all).
REASONING REQUIREMENTS (IF ACTION FAILED)
- Describe the scene before and after, especially spatial changes and object states.
- There is a success/failure for the action, and a success/failure for the overall task. Don't confuse them.
Here is the action history for the current task so far for reference:
Based on the above image, task and action, output your structured evaluation.
SUCCESS CRITERIA FOR ACTION AND TASK
- For picking up objects, if the object is not lying flat on the table at the original location, you might consider it a success. It can be tilted, still touching the table, or appear to be not lifted, and it still might be considered a success.
- For pushing an object toward another object, if these objects are getting much closer, you may consider it a success (they do not need to be touching each other or super close). If the push causes the target object to tip over (but not broken), it is still considered as a success.
- For placing, if the object is roughly placed on the target object, it might be considered as a success. It does not need to be perfectly placed on the center of the target object.
FAILURE CRITERIA FOR ACTION AND TASK
- Always a failure if the robot breaks or drops other objects unintentionally, you must consider it a failure for the current action and thus the overall task (regardless of how it performs).
- Action failure if the action clearly did not achieve its goal (e.g., gripper missed entirely, object didn’t move at all).
REASONING REQUIREMENTS (IF ACTION FAILED)
- Describe the scene before and after, especially spatial changes and object states.
- There is a success/failure for the action, and a success/failure for the overall task. Don't confuse them.
Here is the action history for the current task so far for reference:
Based on the above image, task and action, output your structured evaluation.
SUCCESS CRITERIA FOR ACTION AND TASK
- For picking up objects, if the object is not lying flat on the table at the original location, you might consider it a success. It can be tilted, still touching the table, or appear to be not lifted, and it still might be considered a success.
- For pushing an object toward another object, if these objects are getting much closer, you may consider it a success (they do not need to be touching each other or super close). If the push causes the target object to tip over (but not broken), it is still considered as a success.
- For placing, if the object is roughly placed on the target object, it might be considered as a success. It does not need to be perfectly placed on the center of the target object.
FAILURE CRITERIA FOR ACTION AND TASK
- Always a failure if the robot breaks or drops other objects unintentionally, you must consider it a failure for the current action and thus the overall task (regardless of how it performs).
- Action failure if the action clearly did not achieve its goal (e.g., gripper missed entirely, object didn’t move at all).
REASONING REQUIREMENTS (IF ACTION FAILED)
- Describe the scene before and after, especially spatial changes and object states.
- There is a success/failure for the action, and a success/failure for the overall task. Don't confuse them.
Based on the above image, task and action, output your structured evaluation.
SUCCESS CRITERIA FOR ACTION AND TASK
- For picking up objects, if the object is not lying flat on the table at the original location, you might consider it a success. It can be tilted, still touching the table, or appear to be not lifted, and it still might be considered a success.
- For pushing an object toward another object, if these objects are getting much closer, you may consider it a success (they do not need to be touching each other or super close). If the push causes the target object to tip over (but not broken), it is still considered as a success.
- For placing, if the object is roughly placed on the target object, it might be considered as a success. It does not need to be perfectly placed on the center of the target object.
FAILURE CRITERIA FOR ACTION AND TASK
- Always a failure if the robot breaks or drops other objects unintentionally, you must consider it a failure for the current action and thus the overall task (regardless of how it performs).
- Action failure if the action clearly did not achieve its goal (e.g., gripper missed entirely, object didn’t move at all).
REASONING REQUIREMENTS (IF ACTION FAILED)
- Describe the scene before and after, especially spatial changes and object states.
- There is a success/failure for the action, and a success/failure for the overall task. Don't confuse them.