Instruction: Put the apple on the plate.

VLM scene describer 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 generating accurate and concise scene descriptions. You always apply chain-of-thought reasoning to ensure accurate and comprehensive scene understanding.

User prompt

The robot received this instruction from the user: Put the apple on the plate. Based on your observation of the image, provide a short scene description that focuses on the spatial relationships between the target object and nearby objects the robot may need to interact with. Describe only the scene, do not include the robot’s task in the description. Here's the robot's current observation.

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. 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. - When two objects are next to each other, it's infeasible to directly PUSH the object that is behind the other one. - When the target object is resting on another object (e.g., a cup on a plate), you must use PICK and PLACE instead of PUSH. - 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.

VLM success detector 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 detecting whether an action or task has been successfully completed, and you propose the most likely causes of failure. You always apply chain-of-thought reasoning by thinking step by step and thoroughly analyzing each possible cause. Each action execution involves perception and manipulation. The robot has a limited accuracy in the action execution. You are aware that the robot has limited perception and manipulation capabilities — be realistic but not overly harsh in your success evaluation. This is a robot, not a human! Crucially, any violation of implicit social norms (e.g., knocking over objects, spilling, breaking things) must be treated as a failure, even if not explicitly mentioned in the task.

User prompt

Task given to the robot: Put the apple on the plate. Action the robot just attempted: Pick up the apple. Caption: Observation before the action was attempted. Caption: Observation after the action was attempted. This image is captured after the robot completed the action and returned its arm to the default position. Here is the short-term memory for the current task so far for reference:

{
  "time_step": 1,
  "action": {
    "scene_description": "The apple is on the right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently on the table next to a container, so it can be picked up directly. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions.",
    "chosen_action": "Pick up the apple.",
    "chosen_skill": "pick",
    "target_object": "apple",
    "should_grasp_at_specific_section": false
  }
}

The robot will continue from the above short-term memory. Based on the above image, task and action, and short-term memory, 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.

Task not completed yet, planning next action...

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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently on the table next to a container, so it can be picked up directly. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions.",
    "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 on the right side of the table next to a container. After the action, the apple is still on the table, slightly moved but not picked up. The plate remains on the left side of the table, unchanged.",
    "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."
}

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. - When two objects are next to each other, it's infeasible to directly PUSH the object that is behind the other one. - When the target object is resting on another object (e.g., a cup on a plate), you must use PICK and PLACE instead of PUSH. - 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.

VLM success detector 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 detecting whether an action or task has been successfully completed, and you propose the most likely causes of failure. You always apply chain-of-thought reasoning by thinking step by step and thoroughly analyzing each possible cause. Each action execution involves perception and manipulation. The robot has a limited accuracy in the action execution. You are aware that the robot has limited perception and manipulation capabilities — be realistic but not overly harsh in your success evaluation. This is a robot, not a human! Crucially, any violation of implicit social norms (e.g., knocking over objects, spilling, breaking things) must be treated as a failure, even if not explicitly mentioned in the task.

User prompt

Task given to the robot: Put the apple on the plate. Action the robot just attempted: Push the container to the right. Caption: Observation before the action was attempted. Caption: Observation after the action was attempted. This image is captured after the robot completed the action and returned its arm to the default position. Here is the short-term memory for the current task so far for reference:

{
  "time_step": 1,
  "action": {
    "scene_description": "The apple is on the right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently on the table next to a container, so it can be picked up directly. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions.",
    "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 on the right side of the table next to a container. After the action, the apple is still on the table, slightly moved but not picked up. The plate remains on the left side of the table, unchanged.",
    "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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The scene might have been reset, but it's better to rearrange the scene to ensure success.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, possibly due to the proximity of the container. To avoid repeating the same action, I should first push the container away from the apple to create more space for a successful pick-up. Since the container is on the right side of the apple, pushing it to the right would clear the area around the apple.",
    "chosen_action": "Push the container to the right.",
    "chosen_skill": "push",
    "target_object": "container",
    "push_direction": "right"
  }
}

The robot will continue from the above short-term memory. Based on the above image, task and action, and short-term memory, 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.

Task not completed yet, planning next action...

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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently on the table next to a container, so it can be picked up directly. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions.",
    "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 on the right side of the table next to a container. After the action, the apple is still on the table, slightly moved but not picked up. The plate remains on the left side of the table, unchanged.",
    "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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The scene might have been reset, but it's better to rearrange the scene to ensure success.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, possibly due to the proximity of the container. To avoid repeating the same action, I should first push the container away from the apple to create more space for a successful pick-up. Since the container is on the right side of the apple, pushing it to the right would clear the area around the apple.",
    "chosen_action": "Push the container to the right.",
    "chosen_skill": "push",
    "target_object": "container",
    "push_direction": "right"
  }
}

{
  "time_step": 2,
  "evaluation": {
    "scene_description": "Before the action, the apple was on the right side of the table next to a container. The plate was on the left side of the table. After the action, the container has been moved further to the right, away from the apple. The apple and plate remain in their original positions.",
    "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. - When two objects are next to each other, it's infeasible to directly PUSH the object that is behind the other one. - When the target object is resting on another object (e.g., a cup on a plate), you must use PICK and PLACE instead of PUSH. - 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.

VLM success detector 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 detecting whether an action or task has been successfully completed, and you propose the most likely causes of failure. You always apply chain-of-thought reasoning by thinking step by step and thoroughly analyzing each possible cause. Each action execution involves perception and manipulation. The robot has a limited accuracy in the action execution. You are aware that the robot has limited perception and manipulation capabilities — be realistic but not overly harsh in your success evaluation. This is a robot, not a human! Crucially, any violation of implicit social norms (e.g., knocking over objects, spilling, breaking things) must be treated as a failure, even if not explicitly mentioned in the task.

User prompt

Task given to the robot: Put the apple on the plate. Action the robot just attempted: Pick up the apple. Caption: Observation before the action was attempted. Caption: Observation after the action was attempted. This image is captured after the robot completed the action and returned its arm to the default position. Here is the short-term memory for the current task so far for reference:

{
  "time_step": 1,
  "action": {
    "scene_description": "The apple is on the right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently on the table next to a container, so it can be picked up directly. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions.",
    "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 on the right side of the table next to a container. After the action, the apple is still on the table, slightly moved but not picked up. The plate remains on the left side of the table, unchanged.",
    "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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The scene might have been reset, but it's better to rearrange the scene to ensure success.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, possibly due to the proximity of the container. To avoid repeating the same action, I should first push the container away from the apple to create more space for a successful pick-up. Since the container is on the right side of the apple, pushing it to the right would clear the area around the apple.",
    "chosen_action": "Push the container to the right.",
    "chosen_skill": "push",
    "target_object": "container",
    "push_direction": "right"
  }
}

{
  "time_step": 2,
  "evaluation": {
    "scene_description": "Before the action, the apple was on the right side of the table next to a container. The plate was on the left side of the table. After the action, the container has been moved further to the right, away from the apple. The apple and plate remain in their original positions.",
    "is_action_successful": true,
    "is_task_completed": false
  }
}

{
  "time_step": 3,
  "action": {
    "scene_description": "The apple is on the right side of the table, with a container further to the right. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The container has been successfully moved away, creating more space for a successful pick-up.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, but now the container has been moved away, creating more space around the apple. The apple is directly on the table, so it can be picked up without obstruction. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions now.",
    "chosen_action": "Pick up the apple.",
    "chosen_skill": "pick",
    "target_object": "apple",
    "should_grasp_at_specific_section": false
  }
}

The robot will continue from the above short-term memory. Based on the above image, task and action, and short-term memory, 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.

Task not completed yet, planning next action...

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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently on the table next to a container, so it can be picked up directly. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions.",
    "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 on the right side of the table next to a container. After the action, the apple is still on the table, slightly moved but not picked up. The plate remains on the left side of the table, unchanged.",
    "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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The scene might have been reset, but it's better to rearrange the scene to ensure success.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, possibly due to the proximity of the container. To avoid repeating the same action, I should first push the container away from the apple to create more space for a successful pick-up. Since the container is on the right side of the apple, pushing it to the right would clear the area around the apple.",
    "chosen_action": "Push the container to the right.",
    "chosen_skill": "push",
    "target_object": "container",
    "push_direction": "right"
  }
}

{
  "time_step": 2,
  "evaluation": {
    "scene_description": "Before the action, the apple was on the right side of the table next to a container. The plate was on the left side of the table. After the action, the container has been moved further to the right, away from the apple. The apple and plate remain in their original positions.",
    "is_action_successful": true,
    "is_task_completed": false
  }
}

{
  "time_step": 3,
  "action": {
    "scene_description": "The apple is on the right side of the table, with a container further to the right. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The container has been successfully moved away, creating more space for a successful pick-up.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, but now the container has been moved away, creating more space around the apple. The apple is directly on the table, so it can be picked up without obstruction. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions now.",
    "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 right side of the table, next to a container. The plate was on the left side of the table. After the action, the apple is in the robot's gripper, lifted from the table. The plate and container remain in their original positions.",
    "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. - When two objects are next to each other, it's infeasible to directly PUSH the object that is behind the other one. - When the target object is resting on another object (e.g., a cup on a plate), you must use PICK and PLACE instead of PUSH. - 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.

VLM success detector 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 detecting whether an action or task has been successfully completed, and you propose the most likely causes of failure. You always apply chain-of-thought reasoning by thinking step by step and thoroughly analyzing each possible cause. Each action execution involves perception and manipulation. The robot has a limited accuracy in the action execution. You are aware that the robot has limited perception and manipulation capabilities — be realistic but not overly harsh in your success evaluation. This is a robot, not a human! Crucially, any violation of implicit social norms (e.g., knocking over objects, spilling, breaking things) must be treated as a failure, even if not explicitly mentioned in the task.

User prompt

Task given to the robot: Put the apple on the plate. Action the robot just attempted: Place the apple on the plate. Caption: Observation before the action was attempted. Caption: Observation after the action was attempted. This image is captured after the robot completed the action and returned its arm to the default position. Here is the short-term memory for the current task so far for reference:

{
  "time_step": 1,
  "action": {
    "scene_description": "The apple is on the right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently on the table next to a container, so it can be picked up directly. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions.",
    "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 on the right side of the table next to a container. After the action, the apple is still on the table, slightly moved but not picked up. The plate remains on the left side of the table, unchanged.",
    "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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The scene might have been reset, but it's better to rearrange the scene to ensure success.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, possibly due to the proximity of the container. To avoid repeating the same action, I should first push the container away from the apple to create more space for a successful pick-up. Since the container is on the right side of the apple, pushing it to the right would clear the area around the apple.",
    "chosen_action": "Push the container to the right.",
    "chosen_skill": "push",
    "target_object": "container",
    "push_direction": "right"
  }
}

{
  "time_step": 2,
  "evaluation": {
    "scene_description": "Before the action, the apple was on the right side of the table next to a container. The plate was on the left side of the table. After the action, the container has been moved further to the right, away from the apple. The apple and plate remain in their original positions.",
    "is_action_successful": true,
    "is_task_completed": false
  }
}

{
  "time_step": 3,
  "action": {
    "scene_description": "The apple is on the right side of the table, with a container further to the right. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The container has been successfully moved away, creating more space for a successful pick-up.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, but now the container has been moved away, creating more space around the apple. The apple is directly on the table, so it can be picked up without obstruction. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions now.",
    "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 right side of the table, next to a container. The plate was on the left side of the table. After the action, the apple is in the robot's gripper, lifted from the table. The plate and container remain in their original positions.",
    "is_action_successful": true,
    "is_task_completed": false
  }
}

{
  "time_step": 4,
  "action": {
    "scene_description": "The robot is holding the apple in its gripper. The plate is on the left side of the table, with no objects nearby. The container is on the right side of the table.",
    "applicable_knowledge": "The apple is successfully picked up, and the plate is accessible for placing the apple.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently in the robot's gripper, and the plate is empty and accessible. The appropriate action is to place the apple on the plate. There are no constraints preventing this action now.",
    "chosen_action": "Place the apple on the plate.",
    "chosen_skill": "place",
    "target_object": "apple",
    "placement_object": "plate",
    "should_place_at_specific_section": false
  }
}

The robot will continue from the above short-term memory. Based on the above image, task and action, and short-term memory, 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.

Task completed. VLM experience summarizer 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 summarizing the robot’s experiences and extracting generalizable lessons learned. You always apply chain-of-thought reasoning to thoroughly analyze each situation before performing the conversion.

User prompt

Instruction: Put the apple on the plate. Scene: A white plate is on the left side of the table, and an apple is on the right side, near a cylindrical container. Please summarize the following step-by-step actions and feedback. Make sure to include every single step the robot took. In addition, highlight the key lesson learned, including similar scenarios the robot may encounter and how it should sequence its actions to complete the task without any failure in the future. Please use only ASCII code.

{
  "time_step": 1,
  "action": {
    "scene_description": "The apple is on the right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently on the table next to a container, so it can be picked up directly. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions.",
    "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 on the right side of the table next to a container. After the action, the apple is still on the table, slightly moved but not picked up. The plate remains on the left side of the table, unchanged.",
    "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 right side of the table, next to a container. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The scene might have been reset, but it's better to rearrange the scene to ensure success.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, possibly due to the proximity of the container. To avoid repeating the same action, I should first push the container away from the apple to create more space for a successful pick-up. Since the container is on the right side of the apple, pushing it to the right would clear the area around the apple.",
    "chosen_action": "Push the container to the right.",
    "chosen_skill": "push",
    "target_object": "container",
    "push_direction": "right"
  }
}

{
  "time_step": 2,
  "evaluation": {
    "scene_description": "Before the action, the apple was on the right side of the table next to a container. The plate was on the left side of the table. After the action, the container has been moved further to the right, away from the apple. The apple and plate remain in their original positions.",
    "is_action_successful": true,
    "is_task_completed": false
  }
}

{
  "time_step": 3,
  "action": {
    "scene_description": "The apple is on the right side of the table, with a container further to the right. The plate is on the left side of the table, with no objects nearby.",
    "applicable_knowledge": "The previous attempt to pick up the apple failed, possibly due to the proximity of the container. The container has been successfully moved away, creating more space for a successful pick-up.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The previous attempt to pick up the apple failed, but now the container has been moved away, creating more space around the apple. The apple is directly on the table, so it can be picked up without obstruction. The plate is empty and accessible, making it suitable for placing the apple. Since the objective is to put the apple on top of the plate, the appropriate actions are to pick up the apple and then place it on the plate. There are no constraints preventing these actions now.",
    "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 right side of the table, next to a container. The plate was on the left side of the table. After the action, the apple is in the robot's gripper, lifted from the table. The plate and container remain in their original positions.",
    "is_action_successful": true,
    "is_task_completed": false
  }
}

{
  "time_step": 4,
  "action": {
    "scene_description": "The robot is holding the apple in its gripper. The plate is on the left side of the table, with no objects nearby. The container is on the right side of the table.",
    "applicable_knowledge": "The apple is successfully picked up, and the plate is accessible for placing the apple.",
    "chain_of_thought_reasoning": "The task is to place the apple on the plate. The apple is currently in the robot's gripper, and the plate is empty and accessible. The appropriate action is to place the apple on the plate. There are no constraints preventing this action now.",
    "chosen_action": "Place the apple on the plate.",
    "chosen_skill": "place",
    "target_object": "apple",
    "placement_object": "plate",
    "should_place_at_specific_section": false
  }
}

{
  "time_step": 4,
  "evaluation": {
    "scene_description": "Before the action, the apple was held by the robot's gripper, and the plate was empty on the left side of the table. After the action, the apple is placed on the plate, and the robot's gripper is empty. The container remains on the right side of the table.",
    "is_action_successful": true,
    "is_task_completed": true
  }
}