Robot: Hi there, I'm a robot operating in a home.
Robot: You can ask me to do various tasks and I'll tell you the sequence of actions I would do to accomplish your task.
Human: Move vase from the entertainment center to the coffee table.
Robot: 1. find a vase, 2. pick up the vase, 3. find a coffee table, 4. put down the vase, 5. done.
Human: Move the newspaper in the living room to the couch.
Robot: 1. find a newspaper, 2. pick up the newspaper, 3. find a sofa, 4. put down the newspaper, 5. done.
Human: Pick up a tennis racket and turn on a lamp.
Robot: 1. find a tennis racket, 2. pick up the tennis racket, 3. find a desk lamp, 4. turn on the desk lamp, 5. done.
Human: Pick up a pillow and turn on a lamp.
Robot: 1. find a pillow, 2. pick up the pillow, 3. find a desk lamp, 4. turn on the desk lamp, 5. done.
Human: Examine a credit card using the light from a floor lamp.
Robot: 1. find a credit card, 2. pick up the credit card, 3. find a floor lamp, 4. turn on the floor lamp, 5. done.
Human: Place a cold potato on the table.
Robot: 1. find a potato, 2. pick up the potato, 3. find a fridge, 4. open the fridge, 5. put down the potato, 6. close the fridge, 7. open the fridge, 8. find a potato, 9. pick up the potato, 10. close the fridge, 11. find a counter top, 12. put down the potato, 13. done.
Human: Put the chilled bowl in the microwave.
Robot: 1. find a cabinet, 2. open the cabinet, 3. find a bowl, 4. pick up the bowl, 5. close the cabinet, 6. find a fridge, 7. open the fridge, 8. put down the bowl, 9. close the fridge, 10. open the fridge, 11. find a bowl, 12. pick up the bowl, 13. close the fridge, 14. find a microwave, 15. open the microwave, 16. put down the bowl, 17. close the microwave, 18. done.
Human: Put the chilled sliced cabbage in the trash bin.
Robot: 1. find a knife, 2. pick up the knife, 3. find a lettuce, 4. slice the lettuce, 5. find a fridge, 6. open the fridge, 7. put down the knife, 8. close the fridge, 9. find a lettuce, 10. pick up the lettuce, 11. find a fridge, 12. open the fridge, 13. put down the lettuce, 14. close the fridge, 15. open the fridge, 16. find a lettuce, 17. pick up the lettuce, 18. close the fridge, 19. find a garbage can, 20. put down the lettuce, 21. done.
Human: Moving a bowl to the shelf.
Robot: 1. find a cabinet, 2. open the cabinet, 3. find a cup, 4. pick up the cup, 5. close the cabinet, 6. find a microwave, 7. open the microwave, 8. put down the cup, 9. close the microwave, 10. turn on the microwave, 11. turn off the microwave, 12. open the microwave, 13. find a cup, 14. pick up the cup, 15. close the microwave, 16. find a shelf, 17. put down the cup, 18. done.
Below are some multi-turn dialogue examples:
Human previous inquiry(Not Required to Execute): Hey, can you help me organize the living room a bit? I need to make sure everything is in its place, especially the remote and the couch area.
Human previous inquiry(Not Required to Execute): Let's focus on the remote control. I think it might be misplaced again. It’s important for me to have it handy, especially when I'm relaxing on the green couch.
Human previous inquiry(Not Required to Execute): Thanks! Once we find the remote, we should also ensure the container is nearby. I want to make sure everything is set up comfortably for movie night on the couch later. 
Human_pending_instruction: Perfect! After we find the remote and the container, I want to arrange them properly. It will be nice to have them both ready and easily accessible while watching our favorite shows.
Robot: 1. find a remote control, 2. pick up the remote control, 3. find a box, 4. put down the remote control, 5. pick up the box, 6. find a sofa, 7. put down the box, 8. done.
Human previous inquiry(Not Required to Execute): Hey there! I was thinking about organizing the living room a bit. Can you help me find a suitable box to store some items? I need something that can hold a few small things but is also easy to carry.
Human previous inquiry(Not Required to Execute): A neutral color would be great so it blends in with the other furniture. And as for the size, I’d prefer something that can fit comfortably on the chair without taking up too much space, allowing for easy access to the box.
Human previous inquiry(Not Required to Execute): Yes, I was thinking about keeping the cell phone in the box, along with a couple of other small gadgets that tend to clutter the coffee table. That way, the space will be tidier and more organized.
Human_pending_instruction: That would be helpful! It’s important that the chair is sturdy enough to hold the box and provides a convenient spot for placing the cell phone when I need it.
Robot: 1. find a cell phone, 2. pick up the cell phone, 3. find a box, 4. put down the cell phone, 5. pick up the box, 6. find an arm chair, 7. put down the box, 8. done.
Human previous inquiry(Not Required to Execute): You know, I really want to create a nice atmosphere for dinner tonight. I think a heated plate would help keep the food warm, especially since we have several dishes to serve. Bowl Ace always jokes about how a warm plate makes everything taste better!
Human previous inquiry(Not Required to Execute): Yes, I was thinking about the round table. It’s the perfect size for our meal, and it’s always nice to gather around a table like that. Bowl Ace loves to sit there because he says it brings the family together. I want everything to look inviting.
Human previous inquiry(Not Required to Execute): That could enhance the dining experience. Maybe we could set up a nice mug and a candle on the table to create a warm ambiance. Bowl Ace would appreciate that touch! It’s all about the details, right?
Human_pending_instruction: Just make sure the plate is heated properly and ready to serve the food. I know Bowl Ace will be excited to help serve dinner once the heated plate is on the table. Now, please place a heated plate on the round table.
Robot: 1. find a plate, 2. pick up the plate, 3. find a microwave, 4. open the microwave, 5. put down the plate, 6. close the microwave, 7. turn on the microwave, 8. turn off the microwave, 9. open the microwave, 10. find a plate, 11. pick up the plate, 12. close the microwave, 13. find a dining table, 14. put down the plate, 15. done.
Robot: I can replan the action to perform successfully when the action fails with the message this action failed. If I generate the wrong plan, I'll make sure the command succeeds by replanning.
Human: Place the rinsed off apple on the brown kitchen table.
Robot: 1. find an apple, 2. pick up the apple, 3. find a sink, 4. put down the apple, 5. find a faucet, 6. turn on the faucet, 7. turn off the faucet, 8. find an apple, 9. pick up the apple, 10. find a dining table, 11. put down the apple (this action failed: put down failed), 12. find an apple, 13. pick up the apple, 14. find a dining table, 15. put down the apple, 16. done.
Human: Place the rinsed off apple on the brown kitchen table.
Robot: 1. find an apple, 2. pick up the apple, 3. find a sink, 4. put down the apple, 5. find a faucet, 6. turn on the faucet, 7. turn off the faucet, 8. find an apple, 9. find a dining table, 10. put down the apple (this action failed: Robot is not holding any object), 11. find an apple, 12. pick up the apple, 13. find a dining table, 14. put down the apple 15. done.
Human: Place the rinsed off apple on the brown kitchen table.
Robot: 1. find an apple, 2. pick up the apple (this action failed: Apple is not visible because it is in fridge), 3. find a fridge, 4. open the fridge, 5. find an apple, 6. pick up the apple, 7. find a sink, 8. put down the apple, 9. find a faucet, 10. turn on the faucet, 11. turn off the faucet, 12. find an apple, 13. pick up the apple, 14. find a dining table, 15. put down the apple, 16. done.
