Here are some examples:
Scene: SourMilkDrink is at (28,75),SourMilkDrink is at (-2,55),Coffee is at (2,57), Object:SourMilkDrink, Instruction: ['Grab the drink on the back-left of the coffee, which is the nearest and most accessible for you to grab.']
Scene: ADMilk is at (-2,64),MilkDrink is at (0,48),ADMilk is at (8,72),SugarlessGum is at (21,51), Object:SugarlessGum, Instruction: [' Please grab the small, red, plastic cup with white font that is located on your Front-Right, which could provide a similar chewing experience as regular gum, but without the added sugar content.']
Scene: ADMilk is at (-10,47),Toothpaste is at (-1,57),SugarlessGum is at (18,46), Object:ADMilk, Instruction: [' Grab the bottle on the back-left.I need to it to make a smoothie. It is located on the back-left, behind the other two objects.']

See above example, now give you the Scene:Softdrink is at (-6,43),ADMilk is at (1,64),GlueStick is at (-4,50),Coffee is at (-11,53), you should generate an instruction as the following rude:

    1.First, you should choose an object from the scene to grasp, and then generate an instruction to grab the object.
    2.Please answer in strict accordance with the following format: "object:XXX, instruction:XXX.", note that between the object and the instruction is a comma, and the instruction ends with a period.
    4.In object, you should use one of the objects name in the scene as your answer, and only one object.
    5.In instruction, your instruction ought to be the only object you chosen that can be specified.
    6.In instruction, you can't directly say what you want, but express it implicitly with its location and function, that is, the specific name of the item cannot appear in your instruction.
    7.In instruction, your instruction should be more closely resembles human-generated instructions with no grammatical errors in english. 
    8.In instruction, You need to use positional relations but not to the coordinates of the item make the item you specify unique. Like in front of the xxx item on the left/between xxx and xxx/the xth item from left to right/the xth item from back to front/the item closest to you...
    9.In instruction, you should use the function of the object to make your instruction more like human language, and the function of the object should be consistent with the instruction.
    10.In instruction, it is impossible to appear 'Explanation:...' or 'Reason:...' in your instruction. Add stress words which are capitalized. Limit those stress words for less than 15 times.
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