hand holding white mug, right side of table

• Segment the wooden components of the furniture
• Identify the object with a handle being held
• Highlight the small cube with colored squares

person, blue shirt, center foreground

• Segment the handheld object with a complex geometric structure
• Identify the multi-colored cube being actively manipulated
• Highlight the container with a handle and a spout

person, holding wooden box, center foreground

• Segment the wooden object with visible grain
• Identify the shelf structure with multiple tiers
• Highlight the person's hands holding an item

mug, white ceramic, center of blue table

• Segment the mug handle.
• Segment the surface the mug is placed on.
• Segment the wall surface behind the table.

hammer, wooden handle, center of blue mat

• Segment the wooden part of the hammer handle
• Segment the blue surface of the mat
• Segment the gray floor surface

handsaw, metallic blade, center of blue board

• Segment the object with a metallic blade
• Segment the object with a wooden handle
• Segment the object with a flat surface

scissors, white handles, center of blue mat

• Segment the table with the blue mat and scissors on it
• Segment the wall with the electrical outlet
• Segment the scissors with white handles and red accents

scissors, silver, center of blue board

• Segment the silver-handled scissors on the blue board.
• Segment the blue board holding the scissors.
• Segment the smooth gray wall behind the blue board.

green spatula with wooden handle, center of blue table

• Segment the wooden handle on the spatula.
• Segment the blue table with a checkered border.
• Segment the white wall in the background.

wooden spoon, light brown, center of blue mat

• Segment the object with a wooden handle
• Segment the surface with a rectangular shape
• Segment the surface with a smooth, non-reflective texture

spatula, black, center of blue mat

• Segment the spatula's handle
• Segment the spatula's blade
• Segment the blue mat

white mug with handle, center of blue table

• Segment the white mug with a handle
• Segment the surface the mug is placed on
• Segment the wall behind the table

robotic arm, metallic, reaching for apple

• Segment the apples that are directly touching the bowl's rim
• Segment the apples with a visible stem
• Segment the bowl's interior surface in contact with the apples

robotic arm, metallic, extending into open drawer

• Segment the robotic arm interacting with the drawer
• Identify the open drawer's interior surface
• Highlight the metallic robotic arm component

robotic arm, metallic, holding bottle

• Segment the textured surface of the packet
• Identify the object being held by the robotic arm
• Segment the surface beneath the red mask

robotic arm, metallic, extending over countertop

• Segment the open drawer below the countertop
• Segment the transparent bottle on the countertop
• Segment the plastic bag on the countertop

robotic arm, metallic, extending over table

• Segment the material of the robotic arm
• Identify the object with a blue label
• Segment the surface directly under the robotic arm

robotic arm, metallic, holding can, top-center

• Segment the open snack bag with visible contents
• Identify the metallic container held by the robotic arm
• Segment the closed snack bag in the top-left corner

countertop, gray surface, center foreground

• Segment the smooth, untextured surface of the countertop
• Identify the container with a transparent material
• Segment the region with a red apple inside a green box

robotic arm, metallic, holding green sponge, right side of table

• Segment the metallic robotic arm holding the green sponge.
• Segment the red mask on the green box.
• Segment the green sponge held by the robotic arm.

robotic arm, metallic, right side of drawer

• Segment the metallic robotic arm
• Segment the small, dark object inside the drawer
• Segment the bowl on the counter

robotic arm, metallic, right side of table

• Segment the green snack packet on the table
• Segment the robotic arm on the right side of the table
• Segment the soda can on the left side of the table

robotic arm, metallic, extending over drawer

• Segment the metallic part of the robotic arm.
• Segment the open drawer with its contents.
• Segment the objects on the countertop.

robotic arm, black, left side of table

• Segment the robotic arm with a gripper on the left
• Segment the robotic arm on the right
• Segment the wooden table surface

person, blue shirt, center foreground

• Segment the knife being held by the person
• Segment the cutting board with food items
• Segment the surface where the person is standing

person, wearing blue shirt, center foreground

• Segment the pile of chopped vegetables on the cutting board.
• Segment the uncut orange slice on the cutting board.
• Segment the area where the person is holding the knife.

person, blue shirt, center foreground

• Segment the person wearing a blue shirt.
• Segment the knife being held in the foreground.
• Segment the vegetables being chopped on the cutting board.

person, wearing black shoes, standing near stove

• Segment the red tray holding various bottles
• Segment the black pan with chopped vegetables
• Segment the wooden surface surrounding the stove

sink, metallic, top-left corner

• Segment the metallic object with visible water flow
• Identify the wooden structure with a natural grain
• Segment the cabinet door with attached handle

person, blue shirt, center foreground

• Segment the objects with red accents
• Identify the person holding the spoon
• Segment the green items in the pot

person, blue shirt, center foreground

• Segment the metallic object being held
• Segment the stove surface
• Segment the wooden counter

person, holding glass, bottom-center

• Segment the transparent object being held
• Identify the metallic part of the faucet
• Highlight the white plastic dish rack structure

frying pan, black, held by person

• Segment the metallic part of the pan handle
• Segment the surface that is smooth and non-stick
• Segment the region with visible food residue

robotic arm, white, center of table

• Segment the yellow bottle with a black cap
• Identify the green mug
• Highlight the red robotic arm

wooden table, light brown, foreground

• Segment the patterned plate with blue and white design.
• Identify the ceramic cup with a red handle.
• Highlight the fork with a transparent handle.

plastic container, purple lid, center right

• Segment the transparent plastic container with a purple lid
• Segment the closed black notebook with visible text
• Segment the dark green water bottle with a white cap

sink, stainless steel, center foreground

• Segment the reflective metallic faucet
• Identify the blue patterned bowl
• Highlight the clean white ceramic plate

window, glass panes, top-left foreground

• Segment the translucent component in the window.
• Identify the fabric material in the foreground.
• Segment the power strip on the floor.

window, white frame, center of image

• Segment the transparent glass pane above the window frame
• Segment the green foliage visible through the window
• Segment the window frame surrounding the glass

cup, white, top-left corner

• Segment the figurine with a blue outfit
• Identify the small black object with a zipper
• Segment the figurine with a red base

wooden cabinet, light brown, top-left corner

• Segment the objects with a white surface
• Segment the items with a blue color
• Segment the bottle with a black cap

sink, white ceramic, center foreground

• Segment the faucet handle and spout
• Segment the transparent container holding toothbrushes
• Segment the smooth, flat countertop surface

computer monitor, black, top center

• Segment the dark surface covering the keyboard and mouse area
• Segment the periphery of the black monitor
• Segment the speaker on the desk

black fabric surface, top-left corner

• Segment the green plastic tool with a handle
• Segment the green plastic object with a circular base
• Segment the green plastic tool with an attached circular piece

laptop, silver, on countertop

• Segment the items on the countertop
• Segment the objects in the sink
• Segment the transparent container on the countertop

cardboard box, brown, left side of stairs

• Segment the materials with rough texture
• Identify the objects with transparent features
• Highlight the container with visible contents

white shelf, holding folded clothes, top-left

• Segment the pile of colorful clothes
• Segment the area on the bottom shelf
• Segment the closed cabinet door

table, white surface, foreground

• Segment the objects with metallic caps
• Segment the red object on the table
• Segment the water bottles with open tops

laptop, silver, center of desk

• Segment the open laptop screen displaying content
• Segment the red container with a handle
• Segment the material on the window pane

white table, rectangular, center foreground

• Segment the transparent plastic container on the table.
• Segment the charger on the table
• Segment the objects on the table

green water bottle, transparent plastic, left side of counter

• Segment the light wooden object on the right of the image
• Segment the wooden item with a visible handle
• Segment the container with a lid on it

blue cup, left side of image

• Segment the bowls with smooth, glossy surfaces.
• Segment the items that are round and open.
• Segment the ceramic items in the scene.

blue chair, office setting, center foreground

• Segment the small, folded object with a textured cover
• Identify the cylindrical object with a white cap
• Segment the rolled material with a light grey color

blue chair, fabric surface, bottom-right foreground

• Segment the clear plastic tape roll
• Segment the plastic objects on the chair
• Segment the soft object on the chair

open cabinet door, white, left side

• Segment the transparent containers on the shelf
• Identify the bottles with labels on the shelf
• Highlight the items on the bottom shelf of the cabinet

open cabinet door, white, left side

• Segment the objects with transparent containers on the shelves.
• Segment the items with bright yellow packaging on the shelves.
• Segment the parts of the cabinet that are open and light in color.

table, light green, top surface

• Segment the object that is a sponge
• Identify the item that is a soap bar
• Highlight the container that is a cup with a transparent appearance

green plastic container, top-left corner

• Segment the screwdriver with a yellow handle
• Segment the white container with a blue label
• Segment the yellow sponge

desk, white surface, foreground

• Segment the toy on the right of the blue box.
• Segment the items on the left side of the viewer.
• Segment the object touching the toy on the right.

teddy bear, brown, right side of couch

• Segment the toy with the blue bottle attached
• Segment the toy with green plastic
• Segment the toy with a white shirt

table, gray surface, center foreground

• Identify the group of small plastic toys.
• Segment the objects that are toys.
• Segment the small, colorful cube.

table, gray surface, center foreground

• Segment the yellow plastic cone on the table
• Segment the plastic cone on the table
• Segment the toy dinosaur on the table

table, gray surface, center foreground

• Segment the translucent plastic object on the table
• Identify the toy that is not a cone
• Segment the object that is not a cone or a ball

white table, rectangular, center foreground

• Segment the plastic cups on the table
• Segment the stuffed animals on the table
• Segment the toy dinosaurs on the table

table, white surface, center foreground

• Segment the brown plush toy on the right
• Segment the green dinosaur toy
• Segment the blue cone on the table

bathroom sink, white ceramic, center foreground

• Segment the ceramic cup on the sink.
• Segment the bottle with green liquid.
• Segment the faucet head.

sink, white ceramic, center foreground

• Segment objects on the sink counter
• Segment items touching the faucet
• Segment items on the left side of the sink

bathroom sink, white ceramic, center foreground

• Segment the faucet with a blue cup attached to it
• Segment the bathroom sink's basin
• Segment the blue cup near the silver faucet

bathroom sink, white ceramic, center foreground

• Segment the blue ceramic cup
• Segment the white basin in the center
• Segment the white object on the right

bathroom sink, white porcelain, center foreground

• Segment the white soap dispenser with a green pump
• Segment the white ceramic cup with a handle
• Segment the white porcelain bathroom sink surrounding the toothbrush

bathroom sink, white ceramic, center foreground

• Segment the white ceramic bathroom sink.
• Segment the items on the counter.
• Segment the surface reflecting light.

drawer, white, open, bottom-left

• Segment the toy with a distinct black and white pattern
• Segment the object that is transparent and contains liquid
• Identify the white box with a yellow base inside the drawer

small figurine, white and black, on shelf

• Segment the blue and red tube of cream
• Identify the small cow figurine on the shelf
• Highlight the object that is green and partially visible

cow figurine, black and white, bottom right

• Segment the object with a red cap.
• Segment the white object with a textured surface.
• Identify the object that is black and white.

plastic cow figurine, black and white, center foreground

• Segment the white plastic toy animal in the top-left.
• Segment the black and white toy cow in the center-left.
• Segment the blue bottle with a dark cap in the center.

open drawer, white interior, center of image

• Segment the objects with a smooth surface
• Segment the objects with a matte finish
• Segment the rectangular objects

open drawer, white interior, bottom-left

• Segment the small, rectangular box with a yellow top
• Segment the small toy dog with a white body and black markings
• Segment the small toy dog with a white body and black markings

robotic arm, black, above stove

• Segment the surface of the burner with red markings
• Segment the handles attached to the pot
• Segment the white tiles on the wall

robotic arm, black, above sink

• Segment the transparent material object in the sink
• Segment the object with a green handle in the sink
• Segment the object with a reflective surface in the sink

robotic arm, black, above sink

• Segment the plate inside the sink
• Segment the spatula with a green handle
• Segment the robot arm above the sink

robotic arm, black, top-left

• Segment the metallic surface of the pot
• Segment the green-handled cooking tool
• Segment the yellow fabric covering the surface

sink, light blue, foreground

• Segment the open container in the sink
• Segment the object with a blue handle
• Segment the object on the dish rack

robotic arm, black, above sink

• Segment the robotic arm's mechanical components
• Segment the ceramic plate in the sink
• Segment the faucet's metallic finish

robotic arm, white and black, left side of table

• Segment the objects that are open and empty
• Identify the toy with multiple colors
• Highlight the tray with a green border

person, wearing blue shirt, sitting at desk

• Segment the ceramic bowl containing red and green items
• Segment the red marker inside the green box
• Segment the white ceramic bowl on the wooden surface

wooden countertop, light brown, foreground

• Segment the wooden surface with visible grain patterns
• Segment the reflective metallic faucet
• Segment the gray wooden wall paneling

red bowl, plastic, on white surface

• Segment the red plastic bowl on the white surface
• Segment the gray plastic chair with its legs and backrest
• Segment the white metallic cabinet on the right side

robotic arm, metallic, left side of table

• Segment the blue metallic container with a lid.
• Segment the light blue oven on the left.
• Segment the large gray curtain hanging on the wall.

white table, rectangular, center foreground

• Segment the container with a lid
• Identify the container holding colorful objects
• Segment the open container on the table

robotic arm, white, left side of frame

• Segment the surface the cup is placed on
• Segment the object with a transparent body
• Segment the object with a green base

table, gray surface, center foreground

• Segment the non-spongy item on the table
• Segment the object that is not a container
• Segment the object that is not a drink

drawer, open, bottom-left foreground

• Segment the drawer's interior surface
• Segment the open drawer's visible area
• Segment the drawer's contents and its interior

countertop, gray surface, top-left foreground

• Segment the drawer that is closed
• Segment the robotic arm
• Segment the ceramic bowl

open drawer, gray metal, bottom-left foreground

• Segment the open drawer's interior surface
• Identify the snack bag inside the drawer
• Segment the circular design on the countertop

apple, red, bottom-left corner

• Segment the object with smooth texture on the table
• Identify the object positioned in the top-center of the table
• Segment the object with a smooth, round surface on the tabletop

blue energy drink can, left side of countertop

• Segment the objects with a red border and green interior
• Segment the items with a blue packaging
• Segment the area containing a robotic arm

robot arm, metallic, right side of table

• {"prompts": [{"candidates": [0, 3], "satisfying": [3], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 3], "satisfying": [0], "concept_families": ["instances_and_agents"]}, {"candidates": [0, 1], "satisfying": [1], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 2], "satisfying": [2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 2], "satisfying": [0], "concept_families": ["instances_and_agents"]}, {"candidates": [0, 2, 3], "satisfying": [0], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 2, 3], "satisfying": [2, 3], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 2, 3], "satisfying": [2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2], "satisfying": [0, 2], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": 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{"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 2], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["groups_and_piles"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["materials_and_optics"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["anticipatory_entity_state"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["unusual_entity"]}, {"candidates": [0, 1, 2, 3], "satisfying": [0, 3], "concept_families": ["articulated_and_states"]}, {"candidates": [0, 1, 2, 3], "satisfying":
• Segment the snack bag on the right side of the table
• Segment the items positioned near the robot arm

water bottle, clear plastic, center foreground

• Segment the transparent, cylindrical container holding liquid.
• Segment the dark, non-transparent, rectangular container holding contents.
• Segment the transparent, cylindrical container reflecting light.

countertop, light gray, top-left foreground

• Segment the object on the countertop supporting the bowl
• Segment the object in the drawer
• Segment the object in contact with the bowl

green bag, center-left, on table

• Segment the green bag on the table
• Identify the can with blue color
• Highlight the robotic arm on the right