ShushengYang/Spbench · Datasets at Hugging Face

id int64 1 200	scene_name stringlengths 8 12	dataset stringclasses 3 values	question_type stringclasses 1 value	question stringlengths 304 540	options sequencelengths 3 4	ground_truth stringclasses 26 values	mc_answer stringclasses 4 values	video_suffix stringclasses 2 values	version stringclasses 1 value
1	42446167	arkitscenes	route_planning	You are a robot beginning at the bed facing the tv. You want to navigate to the toilet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the TV 2. [please fill in] 3. Go forward until the shower 4. [please fill in] 5. Go forward until the toilet. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Left", "C. Turn Left, Turn Right", "D. Turn Right, Turn Right" ]	Turn Left, Turn Right	C	.mov	241009
2	42899696	arkitscenes	route_planning	You are a robot beginning at the tv facing the bed. You want to navigate to the cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the door 3. [please fill in] 4. Go forward until the cabinet. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Left", "C. Turn Back, Turn Left", "D. Turn Right, Turn Right" ]	Turn Right, Turn Right	D	.mov	241009
3	47332005	arkitscenes	route_planning	You are a robot beginning at the sink and facing the heater. You want to navigate to the stairs. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the door 2. [please fill in] 3. Go forward until the stairs. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Right	C	.mov	241009
4	fb5a96b1a2	scannetpp	route_planning	You are a robot beginning at the door facing the table. You want to navigate to the power strip. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the table 2. [please fill in] 3. Go forward until the power strip. You have reached the final destination.	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]	Turn Right	B	.mp4	241009
5	1ada7a0617	scannetpp	route_planning	You are a robot beginning at the blue chair and facing the column. You want to navigate to the column. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin 3. [please fill in] 4. Go forward until the wall 5. [please fill in] 6. Go forward until the column. You have reached the final destination.	[ "A. Turn Left, Turn Right, Turn Right", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Left, Turn Right", "D. Turn Right, Turn Right, Turn Right" ]	Turn Right, Turn Left, Turn Left	B	.mp4	241009
6	42899461	arkitscenes	route_planning	You are a robot beginning at the sofa facing the fireplace. You want to navigate to the stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the fireplace 2. [please fill in] 3. Go forward until the stove. You have reached the final destination.	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]	Turn Left	A	.mov	241009
7	c49a8c6cff	scannetpp	route_planning	You are a robot beginning at the door and facing the window. You want to navigate to the monitor. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the heater 2. [please fill in] 3. Go forward until the monitor. You have reached the final destination.	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]	Turn Right	C	.mp4	241009
8	578511c8a9	scannetpp	route_planning	You are a robot beginning at the blue chair and facing the fan. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the fan 2. [please fill in] 3. Go forward until the door. You have reached the final destination.	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]	Turn Left	A	.mp4	241009
9	scene0316_00	scannet	route_planning	You are a robot beginning at the door facing the armchair. You want to navigate to the chair next to water fountain . You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the armchair 2. [please fill in] 3. Go forward until the sofa 4. [please fill in] 5. Go forward until the chair . You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Left, Turn Right", "D. Turn Right, Turn Left" ]	Turn Left, Turn Left	A	.mp4	241009
10	3db0a1c8f3	scannetpp	route_planning	You are a robot beginning at the toilet and facing the washing machine. You want to navigate to the pan. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the washing machine 2. [please fill in] 3. Go forward until the sofa 4. [please fill in] 5. Go forward until the pan. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Left, Turn Right", "C. Turn Back, Turn Right", "D. Turn Right, Turn Right" ]	Turn Right, Turn Right	D	.mp4	241009
11	42897508	arkitscenes	route_planning	You are a robot beginning at the door and facing the window. You want to navigate to the stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinets 2. [please fill in] 3. Go forward until the stove. You have reached the final destination.	[ "A. Turn Back", "B. Turn Right", "C. Turn Left" ]	Turn Right	B	.mov	241009
12	42898581	arkitscenes	route_planning	You are a robot beginning at the door and facing the bed. You want to navigate to the table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinet 2. [please fill in] 3. Go forward until the wall 4. [please fill in]. 5. Go forward until the table. You have reached the final destination.	[ "A. Turn Back, Turn Right", "B. Turn Left, Turn Left", "C. Turn Right, Turn Left", "D. Turn Back, Turn Left" ]	Turn Right, Turn Left	C	.mov	241009
13	47334372	arkitscenes	route_planning	You are a robot beginning at the door and facing the washer. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the washer 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]	Turn Right	C	.mov	241009
14	42445429	arkitscenes	route_planning	You are a robot beginning at the sofa and facing the TV. You want to navigate to the bookshelf. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the TV 2. [please fill in] 3. Go forward until the bookshelf. You have reached the final destination.	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]	Turn Right	B	.mov	241009
15	42446151	arkitscenes	route_planning	You are a robot beginning at the tv and facing the first sofa. You want to navigate to the stool by the piano. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the first sofa 2. [please fill in] 3. Go forward until the stool. You have reached the final destination.	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]	Turn Left	A	.mov	241009
16	scene0338_00	scannet	route_planning	You are a robot beginning at the door and facing the boxes. You want to navigate to the counter. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the boxes 2. [please fill in] 3. Go forward until the counter. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Left	B	.mp4	241009
17	42897554	arkitscenes	route_planning	You are a robot beginning at the bed and facing the door. You want to navigate to the tallest cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the door 2. [please fill in] 3. Go forward until the cabinet. You have reached the final destination.	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]	Turn Right	A	.mov	241009
18	47332899	arkitscenes	route_planning	You are a robot beginning at the door and facing the desk. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the desk 2. [please fill in] 3. Go forward until the bed 4. [please fill in] 5. Go forward until the window. You have reached the final destination.	[ "A. Turn Right, Turn Right", "B. Turn Right, Turn Left", "C. Turn Back, Turn Right", "D. Turn Left, Turn Left" ]	Turn Right, Turn Left	B	.mov	241009
19	47429922	arkitscenes	route_planning	You are a robot beginning at the door and facing the stool. You want to navigate to the bed. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the stool 2. [please fill in] 3. Go forward until the bed. You have reached the final destination.	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]	Turn Right	C	.mov	241009
20	cc5237fd77	scannetpp	route_planning	You are a robot beginning at the red table and facing the washer. You want to navigate to the yellow table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the yellow table. You have reached the final destination.	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]	Turn Back	C	.mp4	241009
21	42446517	arkitscenes	route_planning	You are a robot beginning at the black chair and facing to white table. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin 3. [please fill in] 4. Go forward until the tv. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Back, Turn Right", "C. Turn Right, Turn Right", "D. Turn Left, Turn Right" ]	Turn Back, Turn Left	A	.mov	241009
22	scene0658_00	scannet	route_planning	You are a robot beginning at the chair and facing to lamp. You want to navigate to the lamp on the cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward wardrobe 3. [please fill in]. You have reached the final destination.	[ "A. Turn Back, Turn Right", "B. Turn Back, Turn Left", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]	Turn Left, Turn Left	C	.mp4	241009
23	47331970	arkitscenes	route_planning	You are a robot beginning at the cabinet and facing coffee machine. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the refrigerator. You have reached the final destination.	[ "A. Turn Back", "B. Turn Right", "C. Turn Left" ]	Turn Back	A	.mov	241009
24	d755b3d9d8	scannetpp	route_planning	You are a robot beginning at the blue chair and facing the monitor. You want to navigate to the brown door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the cabinet 3. [please fill in]. 4. Go forward until the brown door. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Right", "C. Turn Back, Turn Left", "D. Turn Back, Turn Right" ]	Turn Back, Turn Right	D	.mp4	241009
25	47331990	arkitscenes	route_planning	You are a robot beginning at the door and facing the floor. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the edge of bed 2. [please fill in] 3. Go forward until the wall 4. [please fill in] 5. Go forward until the window. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Right", "C. Turn Right, Turn Left", "D. Turn Left, Turn Left" ]	Turn Left, Turn Right	B	.mov	241009
26	scene0696_01	scannet	route_planning	You are a robot beginning at the microwave and facing the table. You want to navigate to the sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sofa. You have reached the final destination.	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]	Turn Right	B	.mp4	241009
27	45260905	arkitscenes	route_planning	You are a robot beginning at the TV and facing the TV. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in] 4. Go forward until the door. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Right, Turn Right", "D. Turn Back, Turn Left" ]	Turn Left, Turn Left	A	.mov	241009
28	47334362	arkitscenes	route_planning	You are a robot beginning at the door and facing the farthest sofa. You want to navigate to the TV. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the farthest sofa 2. [please fill in] 3. Go forward until the TV. You have reached the final destination.	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]	Turn Left	A	.mov	241009
29	45261637	arkitscenes	route_planning	You are a robot beginning at the door and facing the bed. You want to navigate to the cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bed 2. [please fill in]. 3. Go forward until the cabinet. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Left	B	.mov	241009
30	scene0647_00	scannet	route_planning	You are a robot beginning at the corner facing the drawing. You want to navigate to the table with two orange chair. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the drawing 2. [please fill in] 3. Go forward until the desired chair. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Right	C	.mp4	241009
31	9071e139d9	scannetpp	route_planning	You are a robot beginning at the table facing the kettle. You want to navigate to the farthest sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in] 4. Go forward until the sofa. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Back, Turn Right", "C. Turn Left, Turn Right", "D. Turn Right, Turn Left" ]	Turn Left, Turn Right	C	.mp4	241009
32	47333436	arkitscenes	route_planning	You are a robot beginning at the door and facing the window. You want to navigate to the farthest sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until window 2. [please fill in] 3. Go forward until the sofa. You have reached the final destination.	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]	Turn Left	B	.mov	241009
33	45662924	arkitscenes	route_planning	You are a robot beginning at the lamb facing the window. You want to navigate to the front door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in]. 4. Go forward until the door. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Right", "C. Turn Left, Turn Left", "D. Turn Back, Turn Right" ]	Turn Back, Turn Left	A	.mov	241009
35	scene0591_01	scannet	route_planning	You are a robot beginning at the black chair next to the trash bin and facing the table. You want to navigate to the exit door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the door. You have reached the final destination.	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]	Turn Right	A	.mp4	241009
36	47334239	arkitscenes	route_planning	You are a robot beginning at the door and facing the toilet. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the toilet 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Right	C	.mov	241009
37	42899712	arkitscenes	route_planning	You are a robot beginning at the door and facing the trash bin. You want to navigate to the stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the dining chairs 2. [please fill in] 3. Go forward until the sink 4. [please fill in] 5. Go forward until the stove. You have reached the final destination.	[ "A. Turn Back, Turn Right", "B. Turn Right, Turn Right", "C. Turn Right, Turn Left", "D. Turn Right, Turn Back" ]	Turn Right, Turn Back	D	.mov	241009
38	scene0251_00	scannet	route_planning	You are a robot beginning at the poster and facing the cabinet. You want to navigate to the trashbin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinet. 2. [please fill in] 3. Go forward until the trashbin. You have reached the final destination.	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]	Turn Left	A	.mp4	241009
39	6115eddb86	scannetpp	route_planning	You are a robot beginning at the chair and facing the tv. You want to navigate to the apartment door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the tv 2. [please fill in] 3. Go forward until the door. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Left	B	.mp4	241009
40	45663164	arkitscenes	route_planning	You are a robot beginning at the hallway entrance and facing the door. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the corner 2. [please fill in]. 3. Go forward until the refrigerator. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Right	C	.mov	241009
41	42897688	arkitscenes	route_planning	You are a robot beginning at the door and facing the trash bin next to the door. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall. 3. [please fill in] 4. Go forward until the window. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Right", "C. Turn Right, Turn Left", "D. Turn Back, Turn Right" ]	Turn Right, Turn Right	B	.mov	241009
42	scene0153_00	scannet	route_planning	You are a robot beginning at the bathroom door facing the mirror. You want to navigate to the bathtube. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bathtube. You have reached the final destination.	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]	Turn Right	A	.mp4	241009
43	42446541	arkitscenes	route_planning	You are a robot beginning at the TV and facing the tv. You want to navigate to the dining table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in]. 2. Go forward until the dining table. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Left	B	.mov	241009
44	42899739	arkitscenes	route_planning	You are a robot beginning at the bed facing the closet. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall. You have reached the final destination.	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]	Turn Right	C	.mov	241009
45	47334254	arkitscenes	route_planning	You are a robot beginning at the oven facing the dining table. You want to navigate to the gas stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the drawer 3. [please fill in]. 4. Go forward until the gas stove. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Right", "C. Turn Back, Turn Right", "D. Turn Left, Turn Right" ]	Turn Left, Turn Left	A	.mov	241009
46	42899698	arkitscenes	route_planning	You are a robot beginning at the bathroom sink facing the mirror. You want to navigate to the bathtube. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bathtube. You have reached the final destination.	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]	Turn Right	A	.mov	241009
47	25f3b7a318	scannetpp	route_planning	You are a robot beginning at the window and facing the waste bin. You want to navigate to the bathroom. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the waste bin 2. [please fill in]. 3. Go forward until the bathroom. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Left	B	.mp4	241009
48	41125760	arkitscenes	route_planning	You are a robot beginning at the bathtube facing the toilet bowl. You want to navigate to the towel rack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the sink 2. [please fill in]. 3. Go forward until the towel rack. You have reached the final destination.	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]	Turn Left	C	.mov	241009
49	42898486	arkitscenes	route_planning	You are a robot beginning at the door and facing the display cabinet. You want to navigate to the 3-seater sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the display cabinet 2. [please fill in] 3. Go forward until the 3-seater sofa. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Left	B	.mov	241009
51	scene0488_01	scannet	route_planning	You are a robot beginning at the refrigerator with the handle on its right side and facing the refrigerator. You want to navigate to the microwave. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the microwave. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Right	C	.mp4	241009
52	45261182	arkitscenes	route_planning	You are a robot beginning at the door and facing the mirror. You want to navigate to the bathroom sink. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the toilet. 2. [please fill in] 3. Go forward until the bathroom sink. You have reached the final destination.	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]	Turn Right	A	.mov	241009
53	45662987	arkitscenes	route_planning	You are a robot beginning at the door and facing the standing lamps. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the sofa. 2. [please fill in] 3. Go forward until the fireplace. 4. [please fill in] 5. Go forward until the tv. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Left", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]	Turn Left, Turn Right	D	.mov	241009
54	41069048	arkitscenes	route_planning	You are a robot beginning at the door. You want to navigate to the toilet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathroom sink. 2. [please fill in] 3. Go forward until the toilet. You have reached the final destination.	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]	Turn Right	B	.mov	241009
55	45662970	arkitscenes	route_planning	You are a robot beginning at the door and facing into the room. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinet. 2. [please fill in] 3. Go forward until the window. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Right	C	.mov	241009
56	47333457	arkitscenes	route_planning	You are a robot beginning at the head of the bed and facing the teddy bear and the windows. You want to navigate to the washer. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the cabinets. 3. [please fill in] 4. Go forward until the doorway. 5. [please fill in] 6. Go forward until the washer. You have reached the final destination.	[ "A. Turn Back, Turn Right, Turn Left", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Right, Turn Left", "D. Turn Left, Turn Right, Turn Right" ]	Turn Right, Turn Right, Turn Left	C	.mov	241009
57	scene0671_01	scannet	route_planning	You are a robot beginning at the chair with the red backpack and facing the bench. You want to navigate to the yellow backpack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin. 3. [please fill in] 4. Go forward until the yellow backpack. You have reached the final destination.	[ "A. Turn Left, Turn Right", "B. Turn Right, Turn Left", "C. Turn Back, Turn Left", "D. Turn Back, Turn Right" ]	Turn Right, Turn Left	B	.mp4	241009
58	42444976	arkitscenes	route_planning	You are a robot beginning at the refrigerator and facing the refrigerator. You want to navigate to the table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the dishwasher. 3. [please fill in] 4. Go forward until the table. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Back, Turn Left", "D. Turn Right, Turn Right" ]	Turn Right, Turn Right	D	.mov	241009
59	42899617	arkitscenes	route_planning	You are a robot beginning at the door and facing into the bathroom. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathroom sink. 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]	Turn Right	A	.mov	241009
60	scene0328_00	scannet	route_planning	You are a robot beginning at the microwave. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the counter. 3. [please fill in] 4. Go forward until the refrigerator. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Left", "C. Turn Left, Turn Right", "D. Turn Right, Turn Left" ]	Turn Left, Turn Left	A	.mp4	241009
61	38d58a7a31	scannetpp	route_planning	You are a robot beginning at the coat hanger by the front door and facing the whiteboard. You want to navigate to the last heater in the back of the room. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the wall 2. [please fill in] 3. Go forward until the heater. You have reached the final destination.	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]	Turn Right	A	.mp4	241009
62	a8bf42d646	scannetpp	route_planning	You are a robot beginning at the door with the clock above it and facing the door. You want to navigate to the blue machine. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the blue machine. You have reached the final destination.	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]	Turn Back	C	.mp4	241009
63	47430475	arkitscenes	route_planning	You are a robot beginning at the door and facing the window. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bookshelf 3. [please fill in] 4. Go forward until the wall 5. [please fill in] 6. Go forward until the window. You have reached the final destination.	[ "A. Turn Back, Turn Right, Turn Left", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Right, Turn Left", "D. Turn Left, Turn Left, Turn Right" ]	Turn Right, Turn Left, Turn Left	B	.mov	241009
64	scene0193_01	scannet	route_planning	You are a robot beginning at the chair and facing the window. You want to navigate to the trash bin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the foot of the bed 3. [please fill in] 4. Go forward until the trash bin. You have reached the final destination.	[ "A. Turn Back, Turn Right", "B. Turn Back, Turn Left", "C. Turn Right, Turn Right", "D. Turn Left, Turn Right" ]	Turn Right, Turn Right	C	.mp4	241009
65	21d970d8de	scannetpp	route_planning	You are a robot beginning at the red chair at the front of the classroom and facing the window. You want to navigate to the window in the corner farthest from the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the door. 3. [please fill in] 4. Go forward until the wall. 5. [please fill in] 6. Go forward until the window. You have reached the final destination.	[ "A. Turn Right, Turn Left, Turn Left", "B. Turn Back, Turn Left, Turn Left", "C. Turn Back, Turn Right, Turn Right", "D. Turn Left, Turn Right, Turn Left" ]	Turn Back, Turn Right, Turn Right	C	.mp4	241009
66	scene0231_00	scannet	route_planning	You are a robot beginning at the refrigerator, with your back to the fridge. You want to navigate to the sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the kitchen island. 2. [please fill in] 3. Go forward until the chairs. 4. [please fill in] 5. Go forward until the wall. 6. [please fill in] 7. Go forward until the sofa. You have reached the final destination.	[ "A. Turn Back, Turn Right, Turn Right", "B. Turn Left, Turn Left, Turn Right", "C. Turn Left, Turn Right, Turn Left", "D. Turn Right, Turn Left, Turn Right" ]	Turn Right, Turn Left, Turn Right	D	.mp4	241009
67	bde1e479ad	scannetpp	route_planning	You are a robot beginning at the chair at the center-back of the room and facing the whiteboard. You want to navigate to the hand soap. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the whiteboard. 2. [please fill in] 3. Go forward until the door. 4. [please fill in] 5. Go forward until the hand soap. You have reached the final destination.	[ "A. Turn Right, Turn Left", "B. Turn Right, Turn Right", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]	Turn Right, Turn Left	A	.mp4	241009
68	47429992	arkitscenes	route_planning	You are a robot beginning at the door and facing into the room. You want to navigate to the laptop on the desk. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the end of the cabinet. 2. [please fill in] 3. Go forward until the chair. 4. [please fill in]. 5. Go forward until the laptop. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Right", "C. Turn Back, Turn Right", "D. Turn Right, Turn Right" ]	Turn Left, Turn Right	B	.mov	241009
69	47115525	arkitscenes	route_planning	You are a robot beginning at the window and facing the outside. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [Please fill in] 2. Go forward until the coffee table. 3. [please fill in] 4. Go forward until the fireplace. 5. [please fill in] 6. Go forward until the sofa. 7. [please fill in] 8. Go forward until the door. You have reached the final destination.	[ "A. Turn Left, Turn Left, Turn Left, Turn Left", "B. Turn Back, Turn Left, Turn Left, Turn Right", "C. Turn Back, Turn Left, Turn Right, Turn Right", "D. Turn Right, Turn Left, Turn Left, Turn Right" ]	Turn Back, Turn Left, Turn Right, Turn Right	C	.mov	241009
70	44358518	arkitscenes	route_planning	You are a robot beginning at the printer and facing the window. You want to navigate to the lamp. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the desk chair. 2. [Please fill in] 3. Go forward until the sofa. 4. [please fill in] 5. Go forward until the other sofa by the window. 6. [please fill in] 7. Go forward until the lamp. You have reached the final destination.	[ "A. Turn Right, Turn Left, Turn Right", "B. Turn Left, Turn Left, Turn Right", "C. Turn Back, Turn Right, Turn Left", "D. Turn Back, Turn Right, Turn Right" ]	Turn Right, Turn Left, Turn Right	A	.mov	241009
71	scene0496_00	scannet	route_planning	You are a robot beginning at the board and facing the board. You want to navigate to the clock. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the window and the chairs. 3. [please fill in] 4. Go forward until the clock. You have reached the final destination.	[ "A. Turn Left, Turn Right", "B. Turn Back, Turn Left", "C. Turn Right, Turn Left", "D. Turn Right, Turn Right" ]	Turn Right, Turn Right	D	.mp4	241009
72	41125731	arkitscenes	route_planning	You are a robot beginning at the nightstand and facing the nightstand. You want to navigate to the the wardrobe to the right of the bed. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the end of the bed. 3. [please fill in] 4. Go forward until the bottom-right corner of the bed. 5. [please fill in] 6. Go forward until the wardrobe. You have reached the final destination.	[ "A. Turn Left, Turn Right, Turn Right", "B. Turn Back, Turn Left, Turn Left", "C. Turn Left, Turn Left, Turn Left", "D. Turn Right, Turn Right, Turn Left" ]	Turn Back, Turn Left, Turn Left	B	.mov	241009
73	c5439f4607	scannetpp	route_planning	You are a robot beginning at the computer and facing the computer. You want to navigate to the first aid cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the first aid cabinet. You have reached the final destination.	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]	Turn Back	B	.mp4	241009
74	42897629	arkitscenes	route_planning	You are a robot beginning at the refrigerator and facing the refrigerator. You want to navigate to the Christmas tree. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the stove. 3. [please fill in] 4. Go forward until the Christmas tree. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Left", "C. Turn Left, Turn Right", "D. Turn Right, Turn Right" ]	Turn Left, Turn Left	B	.mov	241009
75	42899729	arkitscenes	route_planning	You are a robot beginning at the nightstand closest to the bed and facing the mirror. You want to navigate to the nightstand closest to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until 2 feet before the wall. 3. [please fill in] 4. Go forward until the wall. 5. [please fill in] 6. Go forward until the nightstand closest to the window. You have reached the final destination.	[ "A. Turn Right, Turn Left, Turn Right", "B. Turn Back, Turn Left, Turn Left", "C. Turn Left, Turn Left, Turn Left", "D. Turn Right, Turn Right, Turn Right" ]	Turn Left, Turn Left, Turn Left	C	.mov	241009
76	45261594	arkitscenes	route_planning	You are a robot beginning at the sink and facing the sink. You want to navigate to the toilet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the doorway. 3. [please fill in] 4. Go forward until the toilet. You have reached the final destination.	[ "A. Turn Right, Turn Right", "B. Turn Left, Turn Right", "C. Turn Back, Turn Right", "D. Turn Back, Turn Left" ]	Turn Back, Turn Left	D	.mov	241009
77	47115469	arkitscenes	route_planning	You are a robot beginning at the door and facing into the room. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathtub. 2. [please fill in] 3. Go forward until the corner of the shower stall. 4. [please fill in] 5. Go forward until the window. You have reached the final destination.	[ "A. Turn Left, Turn Right", "B. Turn Back, Turn Left", "C. Turn Left, Turn Left", "D. Turn Back, Turn Right" ]	Turn Left, Turn Right	A	.mov	241009
78	scene0593_00	scannet	route_planning	You are a robot beginning at the sofa and facing the wall behind the sofa. You want to navigate to the printer. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the paper disposal bin. 3. [please fill in] 4. Go forward until the electric fan. 5. [please fill in] 6. Go forward until the printer. You have reached the final destination.	[ "A. Turn Right, Turn Right, Turn Right", "B. Turn Left, Turn Left, Turn Left", "C. Turn Left, Turn Right, Turn Left", "D. Turn Back, Turn Right, Turn Right" ]	Turn Left, Turn Left, Turn Left	B	.mp4	241009
79	scene0277_02	scannet	route_planning	You are a robot beginning at the door and facing the door. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the window. You have reached the final destination.	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]	Turn Back	B	.mp4	241009
80	42899612	arkitscenes	route_planning	You are a robot beginning at the stairs and facing into the room. You want to navigate to the nightstand closer to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the foot of the bed. 2. [please fill in] 3. Go forward until the wall. 4. [please fill in] 5. Go forward until the table. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Left, Turn Right", "C. Turn Back, Turn Left", "D. Turn Right, Turn Left" ]	Turn Right, Turn Left	D	.mov	241009
81	scene0088_01	scannet	route_planning	You are a robot beginning at the white board and facing the white board. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the tv. You have reached the final destination.	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]	Turn Right	C	.mp4	241009
82	scene0149_00	scannet	route_planning	You are a robot beginning at the sink and facing the sink. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall. 3. [please fill in] 4. Go forward until the refrigerator. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Right", "C. Turn Right, Turn Left", "D. Turn Back, Turn Right" ]	Turn Back, Turn Left	A	.mp4	241009
83	scene0574_01	scannet	route_planning	You are a robot beginning at the door with the locks and facing the door. You want to navigate to the sink. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the chair 3. [please fill in] 4. Go forward until the sink. You have reached the final destination.	[ "A. Turn Right, Turn Left", "B. Turn Left, Turn Left", "C. Turn Right, Turn Right", "D. Turn Left, Turn Right" ]	Turn Right, Turn Right	C	.mp4	241009
84	scene0648_00	scannet	route_planning	You are a robot beginning at the desk closer to the window and facing the window. You want to navigate to the other desk. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the white storage bins 3. [please fill in] 4. Go forward until the desk. You have reached the final destination.	[ "A. Turn Right, Turn Right", "B. Turn Left, Turn Right", "C. Turn Right, Turn Left", "D. Turn Back, Turn Right" ]	Turn Back, Turn Right	D	.mp4	241009
85	41254432	arkitscenes	route_planning	You are a robot beginning at the computer monitor and facing the speakers. You want to navigate to the trash bin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sofa 3. [please fill in] 4. Go forward until the wall 5. [please fill in] 6. Go forward until the trash bin. You have reached the final destination.	[ "A. Turn Left, Turn Right, Turn Left", "B. Turn Right, Turn Left, Turn Left", "C. Turn Back, Turn Right, Turn Left", "D. Turn Right, Turn Right, Turn Left" ]	Turn Back, Turn Right, Turn Left	C	.mov	241009
86	scene0221_01	scannet	route_planning	You are a robot beginning at the door and facing the door. You want to navigate to the lamp. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the chair 3. [please fill in] 4. Go forward until the lamp. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Left", "C. Turn Right, Turn Left", "D. Turn Back, Turn Right" ]	Turn Back, Turn Left	B	.mp4	241009
87	scene0354_00	scannet	route_planning	You are a robot beginning at the open door and facing the nearest red wall. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in] 4. Go forward until the tv. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Left", "C. Turn Right, Turn Right", "D. Turn Left, Turn Right" ]	Turn Left, Turn Left	A	.mp4	241009
88	scene0474_04	scannet	route_planning	You are a robot beginning at the door and facing into the room. You want to navigate to the backpack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the corner of the sofa 2. [please fill in] 3. Go forward until the corner of the desk 4. [please fill in] 5. Go forward until the backpack. You have reached the final destination.	[ "A. Turn Back, Turn Right", "B. Turn Right, Turn Right", "C. Turn Right, Turn Left", "D. Turn Left, Turn Left" ]	Turn Right, Turn Left	C	.mp4	241009
89	42898527	arkitscenes	route_planning	You are a robot beginning at the stove and facing the stove. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the washer 3. [please fill in] 4. Go forward until the refrigerator. You have reached the final destination.	[ "A. Turn Right, Turn Right", "B. Turn Left, Turn Right", "C. Turn Right, Turn Left", "D. Turn Back, Turn Left" ]	Turn Right, Turn Right	A	.mov	241009
90	scene0169_01	scannet	route_planning	You are a robot beginning at the the red chair and facing the red chair. You want to navigate to the red backpack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward past the black chair 3. [please fill in] 4. Go forward until past the central table 5. [please fill in] 6. Go forward until the red backpack. You have reached the final destination.	[ "A. Turn Right, Turn Left, Turn Left", "B. Turn Left, Turn Right, Turn Right", "C. Turn Back, Turn Left, Turn Right", "D. Turn Right, Turn Right, Turn Right" ]	Turn Right, Turn Right, Turn Right	D	.mp4	241009
91	scene0695_00	scannet	route_planning	You are a robot beginning at the window and facing the window. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in] 4. Go forward until the door. You have reached the final destination.	[ "A. Turn Right, Turn Right", "B. Turn Back, Turn Right", "C. Turn Left, Turn Right", "D. Turn Right, Turn Left" ]	Turn Back, Turn Right	B	.mp4	241009
92	41159541	arkitscenes	route_planning	You are a robot beginning at the doorframe and facing into the room. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the table 2. [please fill in] 3. Go forward until 1 foot before the blue sofa 4. [please fill in] 5. Go forward until the tv. You have reached the final destination.	[ "A. Turn Left, Turn Right", "B. Turn Back, Turn Right", "C. Turn Right, Turn Left", "D. Turn Left, Turn Left" ]	Turn Left, Turn Right	A	.mov	241009
93	scene0568_02	scannet	route_planning	You are a robot beginning at the tv and facing the tv. You want to navigate to the curtains. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the colorful rug is right in front of me 3. [please fill in] 4. Go forward until the curtains. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Left, Turn Right", "C. Turn Right, Turn Left", "D. Turn Right, Turn Right" ]	Turn Left, Turn Right	B	.mp4	241009
94	42897528	arkitscenes	route_planning	You are a robot beginning at the doorway and facing the window. You want to navigate to the washer. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the sink 2. [please fill in] 3. Go forward until the washer. You have reached the final destination.	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]	Turn Right	A	.mov	241009
95	ac48a9b736	scannetpp	route_planning	You are a robot beginning at the door closest to the black suitcase and facing the door. You want to navigate to the robot arm. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the chair 3. [please fill in] 4. Go forward until the robot arm. You have reached the final destination.	[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Right", "C. Turn Left, Turn Right", "D. Turn Back, Turn Right" ]	Turn Back, Turn Right	D	.mp4	241009
96	scene0077_01	scannet	route_planning	You are a robot beginning at the trash can and facing the wall. You want to navigate to the printer on the counter, closest to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the counter 3. [please fill in] 4. Go forward until the desired printer. You have reached the final destination.	[ "A. Turn Right, Turn Left", "B. Turn Left, Turn Left", "C. Turn Back, Turn Right", "D. Turn Left, Turn Right" ]	Turn Back, Turn Right	C	.mp4	241009
97	286b55a2bf	scannetpp	route_planning	You are a robot beginning at the door and facing the toilet. You want to navigate to the shower head. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in] 4. Go forward until the shower head. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Left", "C. Turn Back, Turn Right", "D. Turn Right, Turn Left" ]	Turn Back, Turn Left	B	.mp4	241009
98	scene0207_02	scannet	route_planning	You are a robot beginning at the toilet and facing the toilet. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bathroom sink 3. [please fill in] 4. Go forward until the kitchen counter 5. [please fill in] 6. Go forward until the refrigerator. You have reached the final destination.	[ "A. Turn Left, Turn Right, Turn Left", "B. Turn Right, Turn Left, Turn Right", "C. Turn Back, Turn Left, Turn Right", "D. Turn Left, Turn Left, Turn Left" ]	Turn Left, Turn Left, Turn Left	D	.mp4	241009
99	scene0697_01	scannet	route_planning	You are a robot beginning at the dollhouse and facing the dollhouse. You want to navigate to the hanging picture. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the dresser 3. [please fill in] 4. Go forward until the hanging picture. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Back, Turn Left", "D. Turn Left, Turn Right" ]	Turn Back, Turn Left	C	.mp4	241009
100	scene0086_02	scannet	route_planning	You are a robot beginning at the toilet in the larger stall and facing the toilet paper. You want to navigate to the sink on the left. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in] 4. Go forward until a door 5. [please fill in] 6. Go forward until the sink. You have reached the final destination.	[ "A. Turn Left, Turn Left, Turn Left", "B. Turn Right, Turn Right, Turn Left", "C. Turn Left, Turn Left, Turn Right", "D. Turn Back, Turn Right, Turn Right" ]	Turn Left, Turn Left, Turn Left	A	.mp4	241009
101	scene0356_00	scannet	route_planning	You are a robot beginning at the table and facing the window. You want to navigate to the dresser. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the door 3. [please fill in]. You have reached the final destination.	[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Right", "C. Turn Back, Turn Right", "D. Turn Right, Turn Left" ]	Turn Back, Turn Right	C	.mp4	241009
102	scene0553_00	scannet	route_planning	You are a robot beginning at the trash bin and facing the toilet. You want to navigate to the backpack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the backpack. You have reached the final destination.	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]	Turn Back	B	.mp4	241009

1

42446167

arkitscenes

route_planning

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

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

Turn Left, Turn Right

C

.mov

241009

2

42899696

arkitscenes

route_planning

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

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

Turn Right, Turn Right

D

.mov

241009

3

47332005

arkitscenes

route_planning

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

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

Turn Right

C

.mov

241009

4

fb5a96b1a2

scannetpp

route_planning

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

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

Turn Right

B

.mp4

241009

5

1ada7a0617

scannetpp

route_planning

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

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

Turn Right, Turn Left, Turn Left

B

.mp4

241009

6

42899461

arkitscenes

route_planning

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

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

Turn Left

A

.mov

241009

7

c49a8c6cff

scannetpp

route_planning

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

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

Turn Right

C

.mp4

241009

8

578511c8a9

scannetpp

route_planning

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

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

Turn Left

A

.mp4

241009

9

scene0316_00

scannet

route_planning

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

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

Turn Left, Turn Left

A

.mp4

241009

10

3db0a1c8f3

scannetpp

route_planning

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

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

Turn Right, Turn Right

D

.mp4

241009

11

42897508

arkitscenes

route_planning

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

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

Turn Right

B

.mov

241009

12

42898581

arkitscenes

route_planning

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

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

Turn Right, Turn Left

C

.mov

241009

13

47334372

arkitscenes

route_planning

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

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

Turn Right

C

.mov

241009

14

42445429

arkitscenes

route_planning

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

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

Turn Right

B

.mov

241009

15

42446151

arkitscenes

route_planning

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

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

Turn Left

A

.mov

241009

16

scene0338_00

scannet

route_planning

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

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

Turn Left

B

.mp4

241009

17

42897554

arkitscenes

route_planning

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

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

Turn Right

A

.mov

241009

18

47332899

arkitscenes

route_planning

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

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

Turn Right, Turn Left

B

.mov

241009

19

47429922

arkitscenes

route_planning

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

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

Turn Right

C

.mov

241009

20

cc5237fd77

scannetpp

route_planning

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

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

Turn Back

C

.mp4

241009

21

42446517

arkitscenes

route_planning

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

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

Turn Back, Turn Left

A

.mov

241009

22

scene0658_00

scannet

route_planning

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

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

Turn Left, Turn Left

C

.mp4

241009

23

47331970

arkitscenes

route_planning

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

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

Turn Back

A

.mov

241009

24

d755b3d9d8

scannetpp

route_planning

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

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

Turn Back, Turn Right

D

.mp4

241009

25

47331990

arkitscenes

route_planning

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

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

Turn Left, Turn Right

B

.mov

241009

26

scene0696_01

scannet

route_planning

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

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

Turn Right

B

.mp4

241009

27

45260905

arkitscenes

route_planning

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

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

Turn Left, Turn Left

A

.mov

241009

28

47334362

arkitscenes

route_planning

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

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

Turn Left

A

.mov

241009

29

45261637

arkitscenes

route_planning

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

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

Turn Left

B

.mov

241009

30

scene0647_00

scannet

route_planning

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

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

Turn Right

C

.mp4

241009

31

9071e139d9

scannetpp

route_planning

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

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

Turn Left, Turn Right

C

.mp4

241009

32

47333436

arkitscenes

route_planning

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

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

Turn Left

B

.mov

241009

33

45662924

arkitscenes

route_planning

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

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

Turn Back, Turn Left

A

.mov

241009

35

scene0591_01

scannet

route_planning

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

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

Turn Right

A

.mp4

241009

36

47334239

arkitscenes

route_planning

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

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

Turn Right

C

.mov

241009

37

42899712

arkitscenes

route_planning

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

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

Turn Right, Turn Back

D

.mov

241009

38

scene0251_00

scannet

route_planning

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

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

Turn Left

A

.mp4

241009

39

6115eddb86

scannetpp

route_planning

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

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

Turn Left

B

.mp4

241009

40

45663164

arkitscenes

route_planning

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

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

Turn Right

C

.mov

241009

41

42897688

arkitscenes

route_planning

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

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

Turn Right, Turn Right

B

.mov

241009

42

scene0153_00

scannet

route_planning

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

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

Turn Right

A

.mp4

241009

43

42446541

arkitscenes

route_planning

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

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

Turn Left

B

.mov

241009

44

42899739

arkitscenes

route_planning

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

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

Turn Right

C

.mov

241009

45

47334254

arkitscenes

route_planning

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

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

Turn Left, Turn Left

A

.mov

241009

46

42899698

arkitscenes

route_planning

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

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

Turn Right

A

.mov

241009

47

25f3b7a318

scannetpp

route_planning

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

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

Turn Left

B

.mp4

241009

48

41125760

arkitscenes

route_planning

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

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

Turn Left

C

.mov

241009

49

42898486

arkitscenes

route_planning

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

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

Turn Left

B

.mov

241009

51

scene0488_01

scannet

route_planning

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

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

Turn Right

C

.mp4

241009

52

45261182

arkitscenes

route_planning

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

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

Turn Right

A

.mov

241009

53

45662987

arkitscenes

route_planning

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

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

Turn Left, Turn Right

D

.mov

241009

54

41069048

arkitscenes

route_planning

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

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

Turn Right

B

.mov

241009

55

45662970

arkitscenes

route_planning

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

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

Turn Right

C

.mov

241009

56

47333457

arkitscenes

route_planning

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

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

Turn Right, Turn Right, Turn Left

C

.mov

241009

57

scene0671_01

scannet

route_planning

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

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

Turn Right, Turn Left

B

.mp4

241009

58

42444976

arkitscenes

route_planning

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

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

Turn Right, Turn Right

D

.mov

241009

59

42899617

arkitscenes

route_planning

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

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

Turn Right

A

.mov

241009

60

scene0328_00

scannet

route_planning

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

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

Turn Left, Turn Left

A

.mp4

241009

61

38d58a7a31

scannetpp

route_planning

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

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

Turn Right

A

.mp4

241009

62

a8bf42d646

scannetpp

route_planning

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

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

Turn Back

C

.mp4

241009

63

47430475

arkitscenes

route_planning

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

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

Turn Right, Turn Left, Turn Left

B

.mov

241009

64

scene0193_01

scannet

route_planning

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

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

Turn Right, Turn Right

C

.mp4

241009

65

21d970d8de

scannetpp

route_planning

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

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

Turn Back, Turn Right, Turn Right

C

.mp4

241009

66

scene0231_00

scannet

route_planning

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

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

Turn Right, Turn Left, Turn Right

D

.mp4

241009

67

bde1e479ad

scannetpp

route_planning

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

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

Turn Right, Turn Left

A

.mp4

241009

68

47429992

arkitscenes

route_planning

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

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

Turn Left, Turn Right

B

.mov

241009

69

47115525

arkitscenes

route_planning

You are a robot beginning at the window and facing the outside. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [Please fill in] 2. Go forward until the coffee table. 3. [please fill in] 4. Go forward until the fireplace. 5. [please fill in] 6. Go forward until the sofa. 7. [please fill in] 8. Go forward until the door. You have reached the final destination.

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

Turn Back, Turn Left, Turn Right, Turn Right

C

.mov

241009

70

44358518

arkitscenes

route_planning

You are a robot beginning at the printer and facing the window. You want to navigate to the lamp. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the desk chair. 2. [Please fill in] 3. Go forward until the sofa. 4. [please fill in] 5. Go forward until the other sofa by the window. 6. [please fill in] 7. Go forward until the lamp. You have reached the final destination.

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

Turn Right, Turn Left, Turn Right

A

.mov

241009

71

scene0496_00

scannet

route_planning

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

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

Turn Right, Turn Right

D

.mp4

241009

72

41125731

arkitscenes

route_planning

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

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

Turn Back, Turn Left, Turn Left

B

.mov

241009

73

c5439f4607

scannetpp

route_planning

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

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

Turn Back

B

.mp4

241009

74

42897629

arkitscenes

route_planning

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

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

Turn Left, Turn Left

B

.mov

241009

75

42899729

arkitscenes

route_planning

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

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

Turn Left, Turn Left, Turn Left

C

.mov

241009

76

45261594

arkitscenes

route_planning

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

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

Turn Back, Turn Left

D

.mov

241009

77

47115469

arkitscenes

route_planning

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

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

Turn Left, Turn Right

A

.mov

241009

78

scene0593_00

scannet

route_planning

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

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

Turn Left, Turn Left, Turn Left

B

.mp4

241009

79

scene0277_02

scannet

route_planning

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

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

Turn Back

B

.mp4

241009

80

42899612

arkitscenes

route_planning

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

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

Turn Right, Turn Left

D

.mov

241009

81

scene0088_01

scannet

route_planning

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

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

Turn Right

C

.mp4

241009

82

scene0149_00

scannet

route_planning

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

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

Turn Back, Turn Left

A

.mp4

241009

83

scene0574_01

scannet

route_planning

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

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

Turn Right, Turn Right

C

.mp4

241009

84

scene0648_00

scannet

route_planning

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

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

Turn Back, Turn Right

D

.mp4

241009

85

41254432

arkitscenes

route_planning

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

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

Turn Back, Turn Right, Turn Left

C

.mov

241009

86

scene0221_01

scannet

route_planning

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

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

Turn Back, Turn Left

B

.mp4

241009

87

scene0354_00

scannet

route_planning

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

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

Turn Left, Turn Left

A

.mp4

241009

88

scene0474_04

scannet

route_planning

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

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

Turn Right, Turn Left

C

.mp4

241009

89

42898527

arkitscenes

route_planning

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

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

Turn Right, Turn Right

A

.mov

241009

90

scene0169_01

scannet

route_planning

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

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

Turn Right, Turn Right, Turn Right

D

.mp4

241009

91

scene0695_00

scannet

route_planning

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

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

Turn Back, Turn Right

B

.mp4

241009

92

41159541

arkitscenes

route_planning

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

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

Turn Left, Turn Right

A

.mov

241009

93

scene0568_02

scannet

route_planning

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

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

Turn Left, Turn Right

B

.mp4

241009

94

42897528

arkitscenes

route_planning

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

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

Turn Right

A

.mov

241009

95

ac48a9b736

scannetpp

route_planning

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

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

Turn Back, Turn Right

D

.mp4

241009

96

scene0077_01

scannet

route_planning

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

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

Turn Back, Turn Right

C

.mp4

241009

97

286b55a2bf

scannetpp

route_planning

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

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

Turn Back, Turn Left

B

.mp4

241009

98

scene0207_02

scannet

route_planning

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

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

Turn Left, Turn Left, Turn Left

D

.mp4

241009

99

scene0697_01

scannet

route_planning

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

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

Turn Back, Turn Left

C

.mp4

241009

100

scene0086_02

scannet

route_planning

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

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

Turn Left, Turn Left, Turn Left

A

.mp4

241009

101

scene0356_00

scannet

route_planning

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

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

Turn Back, Turn Right

C

.mp4

241009

102

scene0553_00

scannet

route_planning

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

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

Turn Back

B

.mp4

241009