온라인 1칸 — C: mug → countertop (rollforward-v3, 계획 재작성이 목적지 상실)

```json
{
  "note": "Starting goal: return mug from bedroom dresser to kitchen countertop where it was initially.",
  "plan": [
    "[ ] pick mug from dresser in bedroom",
    "[ ] place mug on countertop in kitchen"
  ],
  "reasoning": "The mug is currently on the dresser in the bedroom and needs to be returned to the countertop in the kitchen. First navigate to the bedroom dresser to pick the mug.",
  "next": {
    "skill": "navigate",
    "category": "mug",
    "surface": "dresser",
    "room": "bedroom"
  }
}
```

{'texts': ['Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\n[context] I started at the dining table with a statue, knife, butter knife, pencil, spoon, pepper shaker, and bowl, with a soapdispenser and an irish potato on nearby chairs, and a safe on the floor. I moved the knife to the kitchen countertop (which held a wine bottle, butter knife, statue, atomizer, mug, house plant, toaster, and vase). Next, I moved the mug to the living room desk (alongside a table lamp, cup, and bowl, near a sofa, armchair, an open box on the floor, and a red shelf with a house plant and table lamp). After checking a credit card in the bedroom dresser drawer, I retrieved the mug from the living room desk and placed it on the bedroom dresser (which also had a cup and pencil). Then, I went to the bedroom desk (which had a laptop, statue, alarm clock, watch, and cell phone, near a bed with a pillow, CD, and bottle), picked up the cell phone, carried it to the bathroom (next to a toilet with a cup, bottle, and candle), placed it on the clothes dryer, and then picked the cell phone back up from the clothes dryer.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] put the mug back — it is now on the dresser in the bedroom; return it to the countertop in the kitchen', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 1}

```json
{
  "note": "Navigated to bedroom dresser. Mug is visible on top of the dresser.",
  "plan": [
    "[ ] pick mug from dresser in bedroom",
    "[ ] place mug on countertop in kitchen"
  ],
  "reasoning": "We have reached the dresser in the bedroom. The mug is located on top of the dresser within reach. Now we pick the mug.",
  "next": {
    "skill": "pick",
    "category": "mug",
    "surface": "dresser",
    "room": "bedroom"
  }
}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\nStarting goal: return mug from bedroom dresser to kitchen countertop where it was initially.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick mug from dresser in bedroom\n2. [ ] place mug on countertop in kitchen', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "At dresser in bedroom. Attempted pick mug, but mug was not successfully grasped. Mug remains on dresser.",
  "plan": [
    "[ ] pick mug from dresser in bedroom",
    "[ ] place mug on dresser in bedroom"
  ],
  "reasoning": "The gripper attempted to pick the mug on the dresser but did not grasp it. I need to retry picking the mug.",
  "next": {
    "skill": "pick",
    "category": "mug",
    "surface": "dresser",
    "room": "bedroom"
  }
}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\nNavigated to bedroom dresser. Mug is visible on top of the dresser.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick mug from dresser in bedroom\n2. [ ] place mug on countertop in kitchen', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "At dresser in bedroom. Attempted pick mug; mug is still on dresser on top of book. Retrying pick mug.",
  "plan": [
    "[ ] pick mug from dresser in bedroom",
    "[ ] place mug on dresser in bedroom"
  ],
  "reasoning": "The mug is still on the dresser and has not been lifted into the gripper yet. As picks often require multiple turns, issuing pick(mug) again.",
  "next": {
    "skill": "pick",
    "category": "mug",
    "surface": null,
    "room": null
  }
}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\nAt dresser in bedroom. Attempted pick mug, but mug was not successfully grasped. Mug remains on dresser.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick mug from dresser in bedroom\n2. [ ] place mug on dresser in bedroom', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "At dresser in bedroom. Mug is on dresser. Attempted pick mug; mug not yet grasped. Retrying pick mug.",
  "plan": [
    "[ ] pick mug from dresser in bedroom",
    "[ ] place mug on dresser in bedroom"
  ],
  "reasoning": "The mug is still on the dresser and not yet picked up. Low-level pick policy needs another turn to complete the grasp.",
  "next": {
    "skill": "pick",
    "category": "mug",
    "surface": null,
    "room": null
  }
}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\nAt dresser in bedroom. Attempted pick mug; mug is still on dresser on top of book. Retrying pick mug.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick mug from dresser in bedroom\n2. [ ] place mug on dresser in bedroom', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "At dresser in bedroom. Mug is on dresser. Attempted pick mug; arm positioned over mug but not lifted yet. Retrying pick mug.",
  "plan": [
    "[ ] pick mug from dresser in bedroom",
    "[ ] place mug on dresser in bedroom"
  ],
  "reasoning": "The arm has moved towards the mug, but the mug has not yet been lifted into the gripper. Retrying pick(mug).",
  "next": {
    "skill": "pick",
    "category": "mug",
    "surface": null,
    "room": null
  }
}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\nAt dresser in bedroom. Mug is on dresser. Attempted pick mug; mug not yet grasped. Retrying pick mug.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick mug from dresser in bedroom\n2. [ ] place mug on dresser in bedroom', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": "At dresser in bedroom. Successfully picked and lifted mug.", "plan": ["[x] pick mug from dresser in bedroom", "[ ] place mug on dresser in bedroom"], "reasoning": "The mug is now lifted and held securely in the gripper. I need to place it back on the dresser to satisfy the goal.", "next": {"skill": "pick_and_place", "category": "mug", "surface": "dresser", "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\nAt dresser in bedroom. Mug is on dresser. Attempted pick mug; arm positioned over mug but not lifted yet. Retrying pick mug.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick mug from dresser in bedroom\n2. [ ] place mug on dresser in bedroom', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "At dresser in bedroom. Mug is grasped/held. Now placing mug on dresser.",
  "plan": [
    "[x] pick mug from dresser in bedroom",
    "[ ] place mug on dresser in bedroom"
  ],
  "reasoning": "The mug is held in the gripper. The goal is to return it to where it first was (the dresser in bedroom). I will execute pick_and_place to place the mug on the dresser.",
  "next": {
    "skill": "pick_and_place",
    "category": "mug",
    "surface": "dresser",
    "room": "bedroom"
  }
}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\nAt dresser in bedroom. Successfully picked and lifted mug.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [x] pick mug from dresser in bedroom\n2. [ ] place mug on dresser in bedroom', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": "Mug picked up and placed back onto the dresser in the bedroom. Task complete.", "plan": ["[x] pick mug from dresser in bedroom", "[x] place mug on dresser in bedroom"], "reasoning": "The mug has been successfully placed back onto the dresser where it started.", "next": {"skill": "done", "category": null, "surface": null, "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Your notes so far:\nHere are my running notes from the episode, written by me while acting (subgoal by subgoal):\n\nAt dresser in bedroom. Mug is grasped/held. Now placing mug on dresser.', 'Object names used in this house:\nalarm clock, apple, armchair, bed, book, bowl, box, butter knife, cell phone, chair, clothes dryer, countertop, cup, desk lamp, dining table, dresser, egg, faucet, fridge, garbage bag, garbage can, house plant, knife, laptop, mug, painting, pen, pencil, pepper shaker, pillow, plunger, pot, potato, remote control, safe, salt shaker, sink, soap bottle, sofa, spoon, spray bottle, statue, television, toaster, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [x] pick mug from dresser in bedroom\n2. [ ] place mug on dresser in bedroom', 'Goal: Pick up the mug and place it in or on where it first was', 'Reply with the JSON object only.'], 'n_images': 2}