When given instructions to finish some tasks, human tend to reason in a hierarchical manner. Please decompose the natural language task description into a hierarchical structure based on tasks logical relationships. Be sure to expand pronouns [e.g., it, them, they] to refer to specific objects, in order to resolve ambiguity.
Example [short description]:
Task: “Turn on the stove to heat potato, and chill a sliced pear while the potatoes are heating”
Arrange things
Fetch a potato, place the potato on the stove, then turn on the stove [Note: Operations on the same object (potato here) cannot be split into two subtasks]
fetch a pear, sliced the pear, then place the pear in the fridge
Example [short description]:
Task: “Put a towel on the toilet, after putting the towel, get a pot and put it into the fridge.”
Arrange things
Put a towel on the toilet
Get a pot and put it into the fridge
Example [long description]:
“First put a black block into the red box, then put a yellow block into the red box. After putting things to red box, you can start to putting toys into the green box (they can be done in any order): put toy bears on the table; dress the doll up before put it into the box. you can put clothes into the blue box in any time, but you need to place all skirts and pants into the blue box before putting in sock into the blue box. eventually, you should pile the red, green, blue box on the table, pile three box can be done in any order”,
Sort things
Place objects into different box
Place blocks into red boxes
Put the a black block into the red box
Put the a yellow block into the yellow box
move toys into green box
Put toy bears into the green box
Dress up the dolls and lays dolls in the green box
Move clothes into blue box
Place skirt into the blue box
Place pant into the blue box
Putt sock into the blue box
Pile the red, green, blue box
Place red box on the left
Place green box in the middle
Move blue box on the right
According to the principle:
Example [tasks can be done in any order should be placed under the same parent task]:
task: “At any time do [task a]. Mean while, [task b] can be done. After [task a and b], do [task c].”
Arrange things
summary of [task a] and [task b]
[task a]
[task b]
[task c]
Because [task a] and [task b] can be done in any order.
Example [tasks should be executed in sequential should be placed under the same parent task]:
Task : “do [task a] at any time. at any time, do [task b]. After [task a] finished, do [task c].”
root task
summary of [task a] and [task c]
[task a]
[task c]
[task b]
Because [task a] and [task c] should be done in sequence
The requirements for task decomposition are that:
Ensure that each parent task has at most 3 child tasks, which means you can increase the depth of the hierarchical structure to make it narrower per level.
You do not need to write out the temporal constraints in this step, but when dividing levels, please try to consider tasks relationships.
Directly output the hierarchical task representation without any other texts.
Please keep the root of the task tree as “1.”
Below is a new task: (AI2-THOR task provided by humans) First Put the clean spatula in the drawer and put a pepper shaker in the kitchen cabinet in any order. After putting the spatula and the pepper shakers, rinse an apple to put it in the microwave. Finally, wash the spoon on the counter and place it on a plate.
Below is a new task: (Real-world experiment provided by humans) First place the green apple and an orange into a yellow plate in any order. After that, place the carrot and the red apple into a blue plate in any order, too.
Possible output from LLM:
(For AI2-THOR provided by humans)
Perform tasks
Place kitchen utensils
Put the clean spatula in the drawer
put a pepper shaker in the kitchen cabinet
Prepare apple for microwave
Rinse an apple and put the rinsed apple in the microwave
Clean and rearrange utensils
Wash the spoon on the counter and place the washed spoon on a plate
Place fruits into plates
Place green apple and orange into yellow plate in any order
Place green apple into yellow plate
Place orange into yellow plate
Place carrot and red apple into blue plate in any order
Place carrot into blue plate
Place red apple into blue plate