본 런 전 스모크 10칸 — find 5칸 (가드 B 끔)

```json
{"note": null, "reasoning": "The plan requires picking up the key chain from the dresser in the bedroom. I am currently in the bathroom, so I need to navigate to the bedroom dresser.", "next": {"skill": "navigate", "category": "key chain", "surface": "dresser", "room": "bedroom"}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 9}

```json
{"note": null, "reasoning": "The robot is in front of the dresser in the bedroom. The key chain was inside the drawer which is currently closed. We need to open the dresser drawer.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The key chain is inside the dresser drawer. The drawer needs to be opened to access it.", "next": {"category": "dresser", "room": null, "skill": "open", "surface": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{
  "note": null,
  "reasoning": "The key chain is inside the dresser drawer, which is currently closed. I need to open the dresser drawer to access it.",
  "next": {
    "skill": "open",
    "category": "dresser",
    "surface": null,
    "room": null
  }
}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The key chain is inside the dresser drawer in the bedroom. The drawer needs to be opened first to access it.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The key chain is likely inside the drawer of the dresser, which was previously opened or closed. The drawer is currently closed, so we need to open the dresser drawer.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The key chain is inside the drawer of the dresser, which is currently closed. I need to open the dresser drawer first.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The key chain is likely inside the dresser drawer which is currently closed. I need to open the drawer on the dresser.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The dresser drawer containing the key chain needs to be opened before picking up the key chain.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The drawer of the dresser containing the key chain needs to be opened.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The key chain is inside the dresser drawer. The drawer is currently closed, so I need to open the dresser first.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{
  "note": null,
  "reasoning": "The key chain was placed inside the dresser drawer earlier. The drawer is currently closed, so it must be opened before picking the key chain.",
  "next": {
    "skill": "open",
    "category": "dresser",
    "surface": null,
    "room": null
  }
}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The drawer on the dresser needs to be opened to access the key chain inside. The previous open action is in progress.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The key chain is likely inside the dresser drawer, which is currently closed. I will open the dresser drawer.", "next": {"skill": "open", "category": "dresser", "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The key chain has been successfully grasped and lifted from the dresser drawer/surface.", "next": {"skill": "done", "category": null, "surface": null, "room": null}}
```

{'texts': ['Frames sampled at even intervals over everything you have observed so far:', 'Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, armchair, bed, book, bottle, bowl, bread, cell phone, chair, countertop, credit card, dining table, dish sponge, dresser, egg, faucet, floor lamp, fork, fridge, garbage can, house plant, key chain, knife, ladle, laptop, mug, painting, paper towel roll, pen, pencil, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, sofa, spatula, spray bottle, statue, teddy bear, television, toaster, toilet, toilet paper, tomato, tv stand, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the key chain — on the dresser in the bedroom', 'Goal: Pick up the key chain I moved earlier', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "I need to pick up the two remote controls I moved earlier. The first is on the armchair in the living room. I will navigate to the armchair in the living room.", "next": {"skill": "navigate", "category": "remote control", "surface": "armchair", "room": "living room"}}
```

{'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] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 1}

```json
{"note": null, "reasoning": "I have navigated to the armchair in the living room where remote control #1 is located. I will now pick up the remote control.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The gripper is at the remote control on the armchair but has not finished grasping and lifting it yet. I will continue the pick subgoal.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The gripper is still positioning to grasp the remote control on the armchair. Repeating pick.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The gripper attempted to pick the remote control on the armchair, but failed to grasp it and lifted empty. I will retry picking the remote control.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The remote control was not grasped in the gripper, so I will retry picking it up from the armchair.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": null,
  "reasoning": "The pick attempt did not grasp the remote control on the armchair yet. I will retry picking it.",
  "next": {
    "skill": "pick",
    "category": "remote control",
    "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The remote control on the armchair in the living room has not been successfully picked yet; retrying pick.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The previous pick attempt on the remote control on the armchair did not succeed (the gripper closed empty). I will retry picking the remote control.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

{"note": null, "reasoning": "The pick attempt did not grasp the remote control on the armchair. Retrying pick.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "I am standing in front of the armchair in the living room where remote control #1 is located. I will execute the pick skill on the remote control.", "next": {"skill": "pick", "category": "remote control", "surface": "armchair", "room": "living room"}}
```

{'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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "Continuing the pick attempt on the remote control located on the armchair in the living room.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The pick attempt for the remote control on the armchair in the living room is still underway, so I will retry picking it.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "Starting step 1 of the plan: navigate to the remote control on the armchair in the living room.", "next": {"skill": "navigate", "category": "remote control", "surface": "armchair", "room": "living room"}}
```

{'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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "I am standing in front of the armchair in the living room where remote control #1 is located. I will pick it up.", "next": {"skill": "pick", "category": "remote control", "surface": "armchair", "room": "living room"}}
```

{'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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The remote control on the armchair has been grasped/lifted. Now proceeding to the second remote control on the dining table in the living room.", "next": {"skill": "navigate", "category": "remote control", "surface": "dining table", "room": "living room"}}
```

{'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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "We are positioned at the dining table in the living room facing a remote control. I will pick up this remote control.", "next": {"skill": "pick", "category": "remote control", "surface": "dining table", "room": "living room"}}
```

{'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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": null,
  "reasoning": "The remote control on the dining table in the living room has been successfully picked up. Now I need to pick up the other remote control on the armchair in the living room.",
  "next": {
    "skill": "navigate",
    "category": "remote control",
    "surface": "armchair",
    "room": "living room"
  }
}
```

{'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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "I have navigated to the armchair in the living room and the remote control is in reach. Now I will pick it up.", "next": {"skill": "pick", "category": "remote control", "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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "I have picked up the remote control from the armchair. Now I need to pick up the second remote control on the dining table in the living room.", "next": {"skill": "navigate", "category": "remote control", "surface": "dining table", "room": "living room"}}
```

{'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\n[context] [    0s–   52s] I picked up the cell phone from the dining table in the living room and carried it to the armchair in the living room, but I could not place it there. Afterwards I went over to look at where it had ended up.\n[context] [   52s–  159s] I picked up remote control #1 from the dining table in the living room and placed it on the countertop in the kitchen.\n[context] [  159s–  301s] I picked up the knife from the countertop in the kitchen and placed it on the dining table in the bedroom.\n[context] [  301s–  434s] I picked up remote control #1 from the countertop in the kitchen and placed it on the armchair in the living room.\n[context] [  434s–  529s] I picked up remote control #2 from the bed in the bedroom and placed it on the dining table in the living room.', 'Object names used in this house:\napple, armchair, basketball, bed, book, bottle, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dresser, egg, fridge, garbage can, house plant, key chain, knife, laptop, mug, painting, pan, paper towel roll, pen, pepper shaker, pillow, plate, potato, remote control, soap bottle, sofa, spoon, spray bottle, stool, television, toaster, vase, watch', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the armchair in the living room\n2. [ ] pick up the remote control — on the dining table in the living room', 'Goal: Pick up all the remote controls I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "keep": "KEEP: none", "reasoning": "Navigate to the ladle on the dining table in the kitchen to get within reach.", "next": {"skill": "navigate", "category": "ladle", "surface": "dining table", "room": "kitchen"}}
```

{'texts': ['Your memory frames:', '[m1]', '[m2]', '[m3]', '[m4]', '[m5]', '[m6]', '[m7]', '[m8]', 'Your current view:', '[F1]', 'Object names used in this house:\nalarm clock, apple, armchair, baseball bat, bed, book, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dish sponge, dresser, egg, floor lamp, fridge, garbage bag, garbage can, house plant, knife, ladle, laptop, lettuce, mug, newspaper, painting, pan, pen, pencil, pepper shaker, pillow, plate, pot, potato, remote control, salt shaker, shelving unit, soap bottle, sofa, spatula, spoon, statue, television, tennisracket, tomato, vase', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the ladle — on the dining table in the kitchen', 'Goal: Pick up the ladle', 'Reply with the JSON object only.'], 'n_images': 9}

```json
{"note": null, "keep": "KEEP: F3 DROP: m8", "reasoning": "The robot is at the dining table facing the plate. The ladle is to the left of the plate. I will navigate directly in front of the ladle before picking it up.", "next": {"skill": "navigate", "category": "ladle", "surface": "dining table", "room": "kitchen"}}
```

{'texts': ['Your memory frames:', '[m1]', '[m2]', '[m3]', '[m4]', '[m5]', '[m6]', '[m7]', '[m8]', 'Frames captured while your previous subgoal was executing:', '[F1]', '[F2]', '[F3]', 'Your current view:', '[F4]', 'Object names used in this house:\nalarm clock, apple, armchair, baseball bat, bed, book, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dish sponge, dresser, egg, floor lamp, fridge, garbage bag, garbage can, house plant, knife, ladle, laptop, lettuce, mug, newspaper, painting, pan, pen, pencil, pepper shaker, pillow, plate, pot, potato, remote control, salt shaker, shelving unit, soap bottle, sofa, spatula, spoon, statue, television, tennisracket, tomato, vase', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the ladle — on the dining table in the kitchen', 'Goal: Pick up the ladle', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{
  "note": null,
  "keep": "KEEP: none",
  "reasoning": "The ladle is right in front of the robot on the dining table. I will execute the pick skill on the ladle.",
  "next": {
    "skill": "pick",
    "category": "ladle",
    "surface": null,
    "room": null
  }
}
```

{'texts': ['Your memory frames:', '[m1]', '[m2]', '[m3]', '[m4]', '[m5]', '[m6]', '[m7]', '[m8]', 'Frames captured while your previous subgoal was executing:', '[F1]', '[F2]', '[F3]', 'Your current view:', '[F4]', 'Object names used in this house:\nalarm clock, apple, armchair, baseball bat, bed, book, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dish sponge, dresser, egg, floor lamp, fridge, garbage bag, garbage can, house plant, knife, ladle, laptop, lettuce, mug, newspaper, painting, pan, pen, pencil, pepper shaker, pillow, plate, pot, potato, remote control, salt shaker, shelving unit, soap bottle, sofa, spatula, spoon, statue, television, tennisracket, tomato, vase', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the ladle — on the dining table in the kitchen', 'Goal: Pick up the ladle', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "keep": "KEEP: none", "reasoning": "The ladle has been grasped and lifted in the gripper, completing the goal.", "next": {"skill": "done", "category": null, "surface": null, "room": null}}
```

{'texts': ['Your memory frames:', '[m1]', '[m2]', '[m3]', '[m4]', '[m5]', '[m6]', '[m7]', '[m8]', 'Frames captured while your previous subgoal was executing:', '[F1]', '[F2]', '[F3]', 'Your current view:', '[F4]', 'Object names used in this house:\nalarm clock, apple, armchair, baseball bat, bed, book, bowl, box, butter knife, candle, cell phone, chair, countertop, credit card, cup, desk lamp, dining table, dish sponge, dresser, egg, floor lamp, fridge, garbage bag, garbage can, house plant, knife, ladle, laptop, lettuce, mug, newspaper, painting, pan, pen, pencil, pepper shaker, pillow, plate, pot, potato, remote control, salt shaker, shelving unit, soap bottle, sofa, spatula, spoon, statue, television, tennisracket, tomato, vase', 'Room names used in this house:\nbedroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the ladle — on the dining table in the kitchen', 'Goal: Pick up the ladle', 'Reply with the JSON object only.'], 'n_images': 12}

```json
{"note": null, "reasoning": "The robot is in front of the bed where the remote control is located. I will command the robot to pick up the remote control.", "next": {"skill": "pick", "category": "remote control", "surface": null, "room": null}}
```

{'texts': ['Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 1}

```json
{"note": null, "reasoning": "The gripper is reaching towards the remote control on the bed but has not grasped or lifted it yet. Continuing the pick subgoal.", "next": {"skill": "pick", "category": "remote control", "surface": null, "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The robot is in the middle of executing the pick action on the remote control on the bed. Continuing the pick skill.", "next": {"skill": "pick", "category": "remote control", "surface": "bed", "room": "bedroom"}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The gripper is moving towards the target object on the bed, but has not grasped and lifted it yet. Continuing the pick subgoal.", "next": {"skill": "pick", "category": "remote control", "surface": "bed", "room": "bedroom"}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The gripper is positioned above the remote control on the bed but has not completed grasping and lifting it yet. I will continue the pick action.", "next": {"skill": "pick", "category": "remote control", "surface": null, "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The gripper is positioned over the remote control and closing/attempting the grasp, but has not lifted it yet. Continuing the pick subgoal.", "next": {"skill": "pick", "category": "remote control", "surface": null, "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The gripper is attempting to pick the remote control on the bed but has not completed lifting it yet. I will continue the pick action.", "next": {"skill": "pick", "category": "remote control", "surface": null, "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "Attempting to pick the remote control from the bed as indicated in the plan.", "next": {"skill": "pick", "category": "remote control", "surface": null, "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 2}

```json
{"note": null, "reasoning": "The remote control is not directly within reach in the current view. I will navigate to the remote control on the bed in the bedroom.", "next": {"skill": "navigate", "category": "remote control", "surface": "bed", "room": "bedroom"}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 2}

```json
{"note": null, "reasoning": "The remote control is on the bed in front of the robot. I will attempt to pick it up.", "next": {"skill": "pick", "category": "remote control", "surface": null, "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": null,
  "reasoning": "The gripper is positioned above the remote control on the bed. Continuing the pick attempt.",
  "next": {
    "skill": "pick",
    "category": "remote control",
    "surface": null,
    "room": null
  }
}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": null, "reasoning": "The remote control is grasped and lifted in the gripper, satisfying the pick goal.", "next": {"skill": "done", "category": null, "surface": null, "room": null}}
```

{'texts': ['Frames captured while your previous subgoal was executing:', 'Your current view:', 'Object names used in this house:\nCD, alarm clock, apple, basketball, bed, book, bowl, box, bread, cart, cell phone, chair, cloth, clothes dryer, countertop, credit card, desk lamp, dining table, dish sponge, dresser, egg, faucet, fridge, garbage can, house plant, key chain, laptop, lettuce, mug, painting, pan, paper towel roll, pen, pencil, pepper shaker, pillow, plate, plunger, pot, potato, remote control, salt shaker, shelving unit, side table, sink, soap bottle, spatula, spray bottle, statue, teddy bear, television, tissue box, toilet, toilet paper, tomato, tv stand, vase, watch', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the remote control — on the bed in the bedroom', 'Goal: Pick up the remote control I moved earlier', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "Goal: Pick up the knife (butter knife on kitchen countertop).\nCurrently in living room near small table after placing apple.\nHeading to kitchen countertop.",
  "plan": [
    "[ ] pick up the butter knife — on the countertop in the kitchen"
  ],
  "reasoning": "The goal is to pick up the knife/butter knife located on the kitchen countertop. The robot is currently in the living room, so it must first navigate to the kitchen countertop.",
  "next": {
    "skill": "navigate",
    "category": "butter knife",
    "surface": "countertop",
    "room": "kitchen"
  }
}
```

{'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 near a dining table holding a cup, bowl, laptop, statue, pen, remote control, and tissue box. I moved the cup from the dining table onto the desk (which held a table lamp, CDs, a cell phone, a vase, a statue, a tissue box, and an adjacent house plant). I placed a basketball on the dresser (near a bed with a pillow and tennisracket), entered the bathroom (with a toilet, plunger, and sink with a sponge), and moved a box from the floor into the sink. I then stored the remote control in a desk drawer (which already contained a pencil). Next, I retrieved the box from the bathroom sink and placed it on the desk. Afterwards, I went to the kitchen countertop (which held a microwaveoven, wine bottle, cup, spatula, credit card, egg, spoon, butter knife, plate, and apple), picked up the apple, and placed it on a table in the living area (which held a candle, cell phone, key chain, and other small items).', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the butter knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 1}

```json
{
  "note": "Goal: Pick up the knife.\nNavigating closer to butter knife on the kitchen countertop.",
  "plan": [
    "[ ] pick up the butter knife — on the countertop in the kitchen"
  ],
  "reasoning": "The butter knife is not within reach yet, so I need to navigate to the countertop next to the butter knife first.",
  "next": {
    "skill": "navigate",
    "category": "butter knife",
    "surface": "countertop",
    "room": "kitchen"
  }
}
```

{'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\nGoal: Pick up the knife (butter knife on kitchen countertop).\nCurrently in living room near small table after placing apple.\nHeading to kitchen countertop.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the butter knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": "Goal: Pick up the knife.\nButter knife is on the kitchen countertop near the microwave.\nNeed to navigate closer to the butter knife first.", "plan": ["[ ] pick up the butter knife — on the countertop in the kitchen"], "reasoning": "The butter knife is not within reach, so I need to navigate to the countertop next to the butter knife first.", "next": {"skill": "navigate", "category": "butter knife", "surface": "countertop", "room": "kitchen"}}
```

{'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\nGoal: Pick up the knife.\nNavigating closer to butter knife on the kitchen countertop.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the butter knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 3}

```json
{
  "note": "Goal: Pick up the knife.\nNeed to navigate closer to the knife on the kitchen countertop.",
  "plan": [
    "[ ] pick up the knife — on the countertop in the kitchen"
  ],
  "reasoning": "The target is not within reach, so we must navigate to the countertop in the kitchen next to the knife first.",
  "next": {
    "skill": "navigate",
    "category": "knife",
    "surface": "countertop",
    "room": "kitchen"
  }
}
```

{'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\nGoal: Pick up the knife.\nButter knife is on the kitchen countertop near the microwave.\nNeed to navigate closer to the butter knife first.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the butter knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "Navigating to knife on the countertop in the kitchen.",
  "plan": [
    "[ ] pick up the knife — on the countertop in the kitchen"
  ],
  "reasoning": "The knife might be obscured or further along the countertop. Navigating directly to the knife will position the robot within reach.",
  "next": {
    "skill": "navigate",
    "category": "knife",
    "surface": "countertop",
    "room": "kitchen"
  }
}
```

{'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\nGoal: Pick up the knife.\nNeed to navigate closer to the knife on the kitchen countertop.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": "Navigated to countertop in the kitchen. Attempting to pick knife.", "plan": ["[ ] pick up the knife — on the countertop in the kitchen"], "reasoning": "The robot is at the countertop in the kitchen. I will issue the pick command for knife.", "next": {"skill": "pick", "category": "knife", "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\nNavigating to knife on the countertop in the kitchen.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "Navigated to countertop in kitchen. Attempted to pick knife; wine bottle tipped over, knife not grasped yet.",
  "plan": [
    "[ ] pick up the knife — on the countertop in the kitchen"
  ],
  "reasoning": "The gripper moved towards the yellow knife on the countertop, tipping the wine bottle. The knife is not yet lifted in the gripper, so issuing pick(knife) again.",
  "next": {
    "skill": "pick",
    "category": "knife",
    "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\nNavigated to countertop in the kitchen. Attempting to pick knife.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "Navigated to countertop in kitchen. Knife with yellow handle is right in front of the gripper. Attempting pick knife.",
  "plan": [
    "[ ] pick up the knife — on the countertop in the kitchen"
  ],
  "reasoning": "The knife handle is clearly in view and positioned directly near the gripper. The pick skill needs another turn to complete the grasp and lift.",
  "next": {
    "skill": "pick",
    "category": "knife",
    "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\nNavigated to countertop in kitchen. Attempted to pick knife; wine bottle tipped over, knife not grasped yet.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "Grasped the knife on countertop in kitchen. Retrying pick to ensure full lift.",
  "plan": [
    "[ ] pick up the knife — on the countertop in the kitchen"
  ],
  "reasoning": "The gripper has closed around the knife, but it may not be fully lifted yet. A pick often takes multiple turns.",
  "next": {
    "skill": "pick",
    "category": "knife",
    "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\nNavigated to countertop in kitchen. Knife with yellow handle is right in front of the gripper. Attempting pick knife.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{
  "note": "Gripper is grasping the knife handle on the countertop in the kitchen, but lift is not fully completed yet.",
  "plan": [
    "[ ] pick up the knife — on the countertop in the kitchen"
  ],
  "reasoning": "The gripper is holding the knife handle, but the arm has not visibly lifted the knife away from the countertop yet. Issuing pick('knife') again to complete the lift.",
  "next": {
    "skill": "pick",
    "category": "knife",
    "surface": "countertop",
    "room": "kitchen"
  }
}
```

{'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\nGrasped the knife on countertop in kitchen. Retrying pick to ensure full lift.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}

```json
{"note": "Knife on countertop in kitchen has been successfully grasped and lifted.", "plan": ["[x] pick up the knife \u2014 on the countertop in the kitchen"], "reasoning": "The knife is clearly grasped and lifted in the gripper. The goal is complete.", "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\nGripper is grasping the knife handle on the countertop in the kitchen, but lift is not fully completed yet.', 'Object names used in this house:\nCD, alarm clock, apple, armchair, basketball, bed, book, bowl, box, butter knife, candle, cart, cell phone, chair, countertop, credit card, cup, desk, desk lamp, dining table, dish sponge, dog bed, dresser, egg, faucet, fork, fridge, garbage bag, garbage can, house plant, key chain, knife, ladle, laptop, microwave, mug, painting, paper towel roll, pen, pencil, pillow, plate, plunger, remote control, sink, sofa, spatula, spray bottle, statue, stool, television, tennisracket, tissue box, toilet, toilet paper, tv stand, vase, watch, wine bottle', 'Room names used in this house:\nbedroom, bathroom, kitchen, living room', 'Your plan:\n1. [ ] pick up the knife — on the countertop in the kitchen', 'Goal: Pick up the knife', 'Reply with the JSON object only.'], 'n_images': 4}