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<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"]]
1
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"]]
2
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"]]
3
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"]]
4
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"]]
5
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
6
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
7
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
8
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
9
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"]]
10
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"], ["down", "stay"]]
11
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"]]
12
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
13
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
14
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
15
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
16
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"]]
17
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink square, blue square, purple square, yellow square, brown square, green square, orange square, and red square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "orange square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "purple", "yellow", "brown", "green", "orange", "red"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [9, 8], "helper_pos": [8, 0], "object_pos": {"pink square": [6, 5], "blue square": [8, 8], "purple square": [4, 6], "yellow square": [5, 1], "brown square": [8, 6], "green square": [3, 2], "orange square": [1, 9], "red square": [9, 2]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "orange square"], "time_step": 0}
[["left", "stay"], ["left", "stay"], ["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"]]
18
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"]]
1
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"]]
2
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"]]
3
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
4
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
5
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
6
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"]]
7
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"]]
8
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"]]
9
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"]]
10
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"]]
11
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"]]
12
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"]]
13
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"]]
14
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"]]
15
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"]]
16
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"]]
17
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"]]
18
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"]]
19
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"]]
20
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
21
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: yellow square, orange square, red square, brown square, blue square, green square, purple square, and pink square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["green square", "pink square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["yellow", "orange", "red", "brown", "blue", "green", "purple", "pink"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [6, 7], "helper_pos": [7, 7], "object_pos": {"yellow square": [2, 4], "orange square": [5, 3], "red square": [8, 9], "brown square": [4, 7], "blue square": [7, 8], "green square": [7, 0], "purple square": [7, 5], "pink square": [1, 9]}, "human_holding": null, "helper_holding": null, "human_goal": ["green square", "pink square"], "time_step": 0}
[["up", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["up", "stay"], ["pick", "stay"], ["down", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
22
22
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"]]
1
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"]]
2
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"]]
3
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"]]
4
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"]]
5
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"]]
6
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"]]
7
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
8
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
9
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"]]
10
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["pick", "stay"]]
11
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["pick", "stay"], ["left", "stay"]]
12
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["pick", "stay"], ["left", "stay"], ["left", "stay"]]
13
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["pick", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
14
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["pick", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"]]
15
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["pick", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["down", "stay"]]
16
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["pick", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["down", "stay"], ["left", "stay"]]
17
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: purple square, orange square, red square, blue square, yellow square, pink square, brown square, and green square. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple square", "blue square"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["purple", "orange", "red", "blue", "yellow", "pink", "brown", "green"], "object_shapes": ["square", "square", "square", "square", "square", "square", "square", "square"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [7, 9], "helper_pos": [7, 0], "object_pos": {"purple square": [9, 1], "orange square": [2, 2], "red square": [5, 2], "blue square": [2, 0], "yellow square": [2, 5], "pink square": [6, 9], "brown square": [9, 6], "green square": [6, 7]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple square", "blue square"], "time_step": 0}
[["down", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["right", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["down", "stay"], ["pick", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["left", "stay"], ["down", "stay"], ["left", "stay"], ["left", "stay"]]
18
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"]]
1
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"]]
2
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"], ["up", "stay"]]
3
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"]]
4
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["up", "stay"]]
5
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["up", "stay"], ["up", "stay"]]
6
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"]]
7
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["right", "stay"]]
8
18
<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["right", "stay"], ["pick", "stay"]]
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<image> You are a helper agent in a GridWorld environment. You are the red robot, and the Human is the green robot. There are multiple objects: pink circle, blue circle, yellow circle, purple circle, orange circle, brown circle, green circle, and red circle. The Human's goal is to place two of the objects next to each other. The Human can move up, down, left, right, or stay, and can pick up an object when standing on it and not holding one, and can put down an object when holding one and the cell is empty. The Human's action trajectory so far is shown in the image. Please propose a probability distribution that includes 2 candidate paired goals and their probabilities. Your response should include the probability distribution formatted according to this JSON schema: {"$defs": {"GoalParticle": {"properties": {"object1": {"$ref": "#/$defs/Object"}, "object2": {"$ref": "#/$defs/Object"}, "p": {"description": "Probability of the goal proposal", "maximum": 1, "minimum": 0, "title": "P", "type": "number"}}, "required": ["object1", "object2", "p"], "title": "GoalParticle", "type": "object"}, "Object": {"properties": {"color": {"title": "Color", "type": "string"}, "shape": {"title": "Shape", "type": "string"}}, "required": ["color", "shape"], "title": "Object", "type": "object"}}, "properties": {"particles": {"items": {"$ref": "#/$defs/GoalParticle"}, "title": "Particles", "type": "array"}}, "required": ["particles"], "title": "GoalParticles", "type": "object"}.
["purple circle", "green circle"]
{"grid_size": [10, 10], "num_objects": 8, "object_colors": ["pink", "blue", "yellow", "purple", "orange", "brown", "green", "red"], "object_shapes": ["circle", "circle", "circle", "circle", "circle", "circle", "circle", "circle"], "num_blocks": 0, "block_pos": [], "max_steps": 50}
{"human_pos": [4, 3], "helper_pos": [4, 5], "object_pos": {"pink circle": [8, 2], "blue circle": [6, 6], "yellow circle": [1, 2], "purple circle": [7, 8], "orange circle": [6, 0], "brown circle": [4, 4], "green circle": [9, 0], "red circle": [2, 3]}, "human_holding": null, "helper_holding": null, "human_goal": ["purple circle", "green circle"], "time_step": 0}
[["up", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["up", "stay"], ["up", "stay"], ["right", "stay"], ["right", "stay"], ["pick", "stay"], ["right", "stay"]]
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