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- README.md +2 -0
- annotations/task-0000/episode_00000000.json +283 -0
- annotations/task-0000/episode_00000001.json +283 -0
- annotations/task-0000/episode_00000002.json +283 -0
- annotations/task-0000/episode_00000003.json +283 -0
- annotations/task-0000/episode_00000004.json +283 -0
- annotations/task-0000/episode_00000005.json +283 -0
- annotations/task-0000/episode_00000006.json +283 -0
- annotations/task-0000/episode_00000007.json +283 -0
- annotations/task-0000/episode_00000008.json +283 -0
- annotations/task-0000/episode_00000009.json +283 -0
- annotations/task-0000/episode_00000010.json +283 -0
- annotations/task-0000/episode_00000011.json +283 -0
- annotations/task-0000/episode_00000012.json +13 -0
- annotations/task-0000/episode_00000013.json +283 -0
- annotations/task-0000/episode_00000014.json +283 -0
- annotations/task-0000/episode_00000015.json +283 -0
- annotations/task-0000/episode_00000016.json +283 -0
- annotations/task-0000/episode_00000017.json +283 -0
- annotations/task-0000/episode_00000018.json +283 -0
- annotations/task-0000/episode_00000019.json +283 -0
- annotations/task-0000/episode_00000020.json +13 -0
- annotations/task-0000/episode_00000021.json +283 -0
- annotations/task-0000/episode_00000022.json +283 -0
- annotations/task-0000/episode_00000023.json +283 -0
- annotations/task-0000/episode_00000024.json +283 -0
- annotations/task-0000/episode_00000025.json +283 -0
- annotations/task-0000/episode_00000026.json +283 -0
- annotations/task-0000/episode_00000027.json +283 -0
- annotations/task-0000/episode_00000028.json +283 -0
- annotations/task-0000/episode_00000029.json +283 -0
- annotations/task-0000/episode_00000030.json +283 -0
- annotations/task-0000/episode_00000031.json +283 -0
- annotations/task-0000/episode_00000032.json +283 -0
- annotations/task-0000/episode_00000033.json +283 -0
- annotations/task-0000/episode_00000034.json +283 -0
- annotations/task-0000/episode_00000035.json +263 -0
- annotations/task-0000/episode_00000036.json +283 -0
- annotations/task-0000/episode_00000037.json +283 -0
- data/task-0000/episode_00000000.parquet +3 -0
- data/task-0000/episode_00000001.parquet +3 -0
- data/task-0000/episode_00000002.parquet +3 -0
- data/task-0000/episode_00000003.parquet +3 -0
- data/task-0000/episode_00000004.parquet +3 -0
- data/task-0000/episode_00000005.parquet +3 -0
- data/task-0000/episode_00000006.parquet +3 -0
- data/task-0000/episode_00000007.parquet +3 -0
- data/task-0000/episode_00000008.parquet +3 -0
- data/task-0000/episode_00000009.parquet +3 -0
- data/task-0000/episode_00000010.parquet +3 -0
README.md
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# dataset-temp-task-0010-openrefrigerator3-lerobot
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annotations/task-0000/episode_00000000.json
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{
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"task_name": "Open the refrigerator door with the right gripper.",
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"data_folder": "",
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| 266 |
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0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
289,
|
| 274 |
+
393
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000001.json
ADDED
|
@@ -0,0 +1,283 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 375,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
375
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
48
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
48,
|
| 46 |
+
77
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
77,
|
| 65 |
+
91
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
91,
|
| 84 |
+
108
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
108,
|
| 103 |
+
164
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
164,
|
| 122 |
+
221
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
221,
|
| 141 |
+
265
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
265,
|
| 160 |
+
277
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
277,
|
| 179 |
+
293
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
293,
|
| 198 |
+
319
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
319,
|
| 217 |
+
375
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
91
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
91,
|
| 253 |
+
277
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
277,
|
| 274 |
+
375
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000002.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 405,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
405
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
51
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
51,
|
| 46 |
+
78
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
78,
|
| 65 |
+
96
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
96,
|
| 84 |
+
119
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
119,
|
| 103 |
+
182
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
182,
|
| 122 |
+
248
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
248,
|
| 141 |
+
295
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
295,
|
| 160 |
+
303
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
303,
|
| 179 |
+
322
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
322,
|
| 198 |
+
344
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
344,
|
| 217 |
+
404
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
97
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2,
|
| 240 |
+
3
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"primitive_idx": 1,
|
| 245 |
+
"primitive_id": [
|
| 246 |
+
4
|
| 247 |
+
],
|
| 248 |
+
"primitive_description": [
|
| 249 |
+
"open"
|
| 250 |
+
],
|
| 251 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 252 |
+
"frame_duration": [
|
| 253 |
+
97,
|
| 254 |
+
304
|
| 255 |
+
],
|
| 256 |
+
"skill_idxes": [
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7,
|
| 261 |
+
8
|
| 262 |
+
]
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"primitive_idx": 2,
|
| 266 |
+
"primitive_id": [
|
| 267 |
+
0
|
| 268 |
+
],
|
| 269 |
+
"primitive_description": [
|
| 270 |
+
"move_to"
|
| 271 |
+
],
|
| 272 |
+
"instruction": "Move backward.",
|
| 273 |
+
"frame_duration": [
|
| 274 |
+
304,
|
| 275 |
+
404
|
| 276 |
+
],
|
| 277 |
+
"skill_idxes": [
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000003.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 414,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
414
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
54
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
"frame_duration": [
|
| 45 |
+
54,
|
| 46 |
+
77
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
77,
|
| 65 |
+
99
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
99,
|
| 84 |
+
124
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
124,
|
| 103 |
+
192
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
192,
|
| 122 |
+
249
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
249,
|
| 141 |
+
297
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
297,
|
| 160 |
+
318
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
318,
|
| 179 |
+
335
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
335,
|
| 198 |
+
362
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
362,
|
| 217 |
+
414
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
99
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
99,
|
| 253 |
+
318
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
318,
|
| 274 |
+
414
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000004.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 393,
|
| 6 |
+
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|
| 7 |
+
0,
|
| 8 |
+
393
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
+
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|
| 14 |
+
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|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
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|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
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|
| 26 |
+
0,
|
| 27 |
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50
|
| 28 |
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|
| 29 |
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"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
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|
| 34 |
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1
|
| 35 |
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],
|
| 36 |
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"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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80
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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"idle"
|
| 57 |
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|
| 58 |
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|
| 59 |
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"uncoordinated"
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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110
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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"skill_type": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
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"pick up from"
|
| 114 |
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],
|
| 115 |
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"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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],
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
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3
|
| 130 |
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|
| 131 |
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|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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{
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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],
|
| 169 |
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|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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],
|
| 181 |
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|
| 182 |
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|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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"skill_id": [
|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
+
"skill_type": [
|
| 211 |
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"uncoordinated"
|
| 212 |
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],
|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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340,
|
| 217 |
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393
|
| 218 |
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],
|
| 219 |
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"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
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],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
110
|
| 235 |
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],
|
| 236 |
+
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|
| 237 |
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|
| 238 |
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|
| 239 |
+
2
|
| 240 |
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]
|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
+
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|
| 244 |
+
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|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
110,
|
| 253 |
+
294
|
| 254 |
+
],
|
| 255 |
+
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|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
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|
| 265 |
+
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|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
294,
|
| 274 |
+
393
|
| 275 |
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],
|
| 276 |
+
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|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000005.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 394,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
394
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
48
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
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},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
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|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
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|
| 45 |
+
48,
|
| 46 |
+
76
|
| 47 |
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|
| 48 |
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|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"skill_idx": 2,
|
| 52 |
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|
| 53 |
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0
|
| 54 |
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|
| 55 |
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|
| 56 |
+
"idle"
|
| 57 |
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],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
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|
| 62 |
+
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|
| 63 |
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|
| 64 |
+
76,
|
| 65 |
+
98
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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"skill_description": [
|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
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],
|
| 80 |
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"memory_prefix": [],
|
| 81 |
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"spatial_prefix": [],
|
| 82 |
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|
| 83 |
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98,
|
| 84 |
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119
|
| 85 |
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|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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"skill_idx": 4,
|
| 90 |
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"skill_id": [
|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
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"skill_type": [
|
| 97 |
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"navigation"
|
| 98 |
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],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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119,
|
| 103 |
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178
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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"skill_id": [
|
| 110 |
+
2
|
| 111 |
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],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
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],
|
| 115 |
+
"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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],
|
| 118 |
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"memory_prefix": [],
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
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3
|
| 130 |
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],
|
| 131 |
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"skill_description": [
|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
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"skill_type": [
|
| 135 |
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"uncoordinated"
|
| 136 |
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],
|
| 137 |
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|
| 138 |
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"spatial_prefix": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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},
|
| 145 |
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{
|
| 146 |
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|
| 147 |
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"skill_id": [
|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
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|
| 151 |
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"idle"
|
| 152 |
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],
|
| 153 |
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"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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],
|
| 156 |
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|
| 157 |
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|
| 158 |
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"frame_duration": [
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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"skill_idx": 8,
|
| 166 |
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"skill_id": [
|
| 167 |
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0
|
| 168 |
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],
|
| 169 |
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"skill_description": [
|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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"memory_prefix": [],
|
| 176 |
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|
| 177 |
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"frame_duration": [
|
| 178 |
+
294,
|
| 179 |
+
312
|
| 180 |
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],
|
| 181 |
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"mp_ef": []
|
| 182 |
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},
|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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"skill_id": [
|
| 186 |
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1
|
| 187 |
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],
|
| 188 |
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"skill_description": [
|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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335
|
| 199 |
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],
|
| 200 |
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"mp_ef": []
|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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"skill_id": [
|
| 205 |
+
0
|
| 206 |
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],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
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],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
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"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
335,
|
| 217 |
+
394
|
| 218 |
+
],
|
| 219 |
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"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
98
|
| 235 |
+
],
|
| 236 |
+
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|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
98,
|
| 253 |
+
294
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
294,
|
| 274 |
+
394
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000006.json
ADDED
|
@@ -0,0 +1,283 @@
|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 392,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
392
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
52
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
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"frame_duration": [
|
| 45 |
+
52,
|
| 46 |
+
85
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
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],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
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],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
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],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
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"frame_duration": [
|
| 64 |
+
85,
|
| 65 |
+
105
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
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|
| 83 |
+
105,
|
| 84 |
+
130
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
+
{
|
| 89 |
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"skill_idx": 4,
|
| 90 |
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"skill_id": [
|
| 91 |
+
1
|
| 92 |
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],
|
| 93 |
+
"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [
|
| 102 |
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130,
|
| 103 |
+
188
|
| 104 |
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|
| 105 |
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"mp_ef": []
|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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"skill_id": [
|
| 110 |
+
2
|
| 111 |
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],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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],
|
| 118 |
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"memory_prefix": [],
|
| 119 |
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"spatial_prefix": [],
|
| 120 |
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|
| 121 |
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188,
|
| 122 |
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|
| 123 |
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],
|
| 124 |
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"mp_ef": []
|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
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3
|
| 130 |
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],
|
| 131 |
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"skill_description": [
|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
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"skill_type": [
|
| 135 |
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"uncoordinated"
|
| 136 |
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],
|
| 137 |
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"memory_prefix": [],
|
| 138 |
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"spatial_prefix": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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"mp_ef": []
|
| 144 |
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},
|
| 145 |
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{
|
| 146 |
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"skill_idx": 7,
|
| 147 |
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"skill_id": [
|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
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|
| 151 |
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"idle"
|
| 152 |
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],
|
| 153 |
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"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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],
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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286,
|
| 160 |
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296
|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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"skill_idx": 8,
|
| 166 |
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|
| 167 |
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0
|
| 168 |
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],
|
| 169 |
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"skill_description": [
|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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"memory_prefix": [],
|
| 176 |
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"spatial_prefix": [],
|
| 177 |
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"frame_duration": [
|
| 178 |
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296,
|
| 179 |
+
315
|
| 180 |
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],
|
| 181 |
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"mp_ef": []
|
| 182 |
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},
|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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"skill_id": [
|
| 186 |
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1
|
| 187 |
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],
|
| 188 |
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"skill_description": [
|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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],
|
| 200 |
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"mp_ef": []
|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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"skill_id": [
|
| 205 |
+
0
|
| 206 |
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],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
340,
|
| 217 |
+
392
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
105
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
105,
|
| 253 |
+
296
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
296,
|
| 274 |
+
392
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000007.json
ADDED
|
@@ -0,0 +1,283 @@
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 372,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
372
|
| 9 |
+
]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
+
0
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
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],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
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],
|
| 23 |
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"memory_prefix": [],
|
| 24 |
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|
| 25 |
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"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
49
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
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},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
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"memory_prefix": [],
|
| 43 |
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|
| 44 |
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"frame_duration": [
|
| 45 |
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49,
|
| 46 |
+
73
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
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"skill_id": [
|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
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"uncoordinated"
|
| 60 |
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],
|
| 61 |
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"memory_prefix": [],
|
| 62 |
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|
| 63 |
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"frame_duration": [
|
| 64 |
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73,
|
| 65 |
+
96
|
| 66 |
+
],
|
| 67 |
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"mp_ef": []
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 3,
|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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"skill_description": [
|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
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"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
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],
|
| 80 |
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"memory_prefix": [],
|
| 81 |
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"spatial_prefix": [],
|
| 82 |
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"frame_duration": [
|
| 83 |
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96,
|
| 84 |
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119
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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"skill_idx": 4,
|
| 90 |
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"skill_id": [
|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
+
"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
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],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [
|
| 102 |
+
119,
|
| 103 |
+
172
|
| 104 |
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],
|
| 105 |
+
"mp_ef": []
|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
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"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
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"frame_duration": [
|
| 121 |
+
172,
|
| 122 |
+
219
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
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"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
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"uncoordinated"
|
| 136 |
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],
|
| 137 |
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|
| 138 |
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"spatial_prefix": [],
|
| 139 |
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|
| 140 |
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219,
|
| 141 |
+
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|
| 142 |
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|
| 143 |
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"mp_ef": []
|
| 144 |
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},
|
| 145 |
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{
|
| 146 |
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"skill_idx": 7,
|
| 147 |
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"skill_id": [
|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
+
"skill_description": [
|
| 151 |
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"idle"
|
| 152 |
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],
|
| 153 |
+
"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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],
|
| 156 |
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|
| 157 |
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|
| 158 |
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"frame_duration": [
|
| 159 |
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269,
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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"skill_idx": 8,
|
| 166 |
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|
| 167 |
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|
| 168 |
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],
|
| 169 |
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"skill_description": [
|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
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],
|
| 175 |
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"memory_prefix": [],
|
| 176 |
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"spatial_prefix": [],
|
| 177 |
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"frame_duration": [
|
| 178 |
+
278,
|
| 179 |
+
295
|
| 180 |
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],
|
| 181 |
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"mp_ef": []
|
| 182 |
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},
|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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"skill_id": [
|
| 186 |
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1
|
| 187 |
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],
|
| 188 |
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"skill_description": [
|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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"skill_id": [
|
| 205 |
+
0
|
| 206 |
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],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
319,
|
| 217 |
+
372
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
96
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
96,
|
| 253 |
+
278
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
278,
|
| 274 |
+
372
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000008.json
ADDED
|
@@ -0,0 +1,283 @@
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 389,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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389
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
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0
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
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],
|
| 20 |
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"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
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],
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
+
0,
|
| 27 |
+
46
|
| 28 |
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],
|
| 29 |
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"mp_ef": []
|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
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"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
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],
|
| 42 |
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"memory_prefix": [],
|
| 43 |
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"spatial_prefix": [],
|
| 44 |
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|
| 45 |
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46,
|
| 46 |
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72
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"skill_idx": 2,
|
| 52 |
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"skill_id": [
|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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|
| 56 |
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"idle"
|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
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"uncoordinated"
|
| 60 |
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],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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72,
|
| 65 |
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89
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 3,
|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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"skill_description": [
|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
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"skill_type": [
|
| 78 |
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"uncoordinated"
|
| 79 |
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],
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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89,
|
| 84 |
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122
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
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"skill_type": [
|
| 97 |
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"navigation"
|
| 98 |
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],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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122,
|
| 103 |
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178
|
| 104 |
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],
|
| 105 |
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|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
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"frame_duration": [
|
| 121 |
+
178,
|
| 122 |
+
234
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
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"frame_duration": [
|
| 140 |
+
234,
|
| 141 |
+
288
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
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0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
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],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
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],
|
| 156 |
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"memory_prefix": [],
|
| 157 |
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"spatial_prefix": [],
|
| 158 |
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"frame_duration": [
|
| 159 |
+
288,
|
| 160 |
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303
|
| 161 |
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],
|
| 162 |
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"mp_ef": []
|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
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"skill_id": [
|
| 167 |
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0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
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],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
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],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
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"spatial_prefix": [],
|
| 177 |
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"frame_duration": [
|
| 178 |
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303,
|
| 179 |
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320
|
| 180 |
+
],
|
| 181 |
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|
| 182 |
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| 183 |
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|
| 184 |
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| 185 |
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|
| 186 |
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|
| 187 |
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| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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],
|
| 210 |
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|
| 211 |
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"uncoordinated"
|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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}
|
| 221 |
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],
|
| 222 |
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"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
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|
| 225 |
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"primitive_id": [
|
| 226 |
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0
|
| 227 |
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],
|
| 228 |
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"primitive_description": [
|
| 229 |
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"move_to"
|
| 230 |
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],
|
| 231 |
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"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
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0,
|
| 234 |
+
89
|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
+
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|
| 240 |
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|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
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|
| 244 |
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|
| 245 |
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4
|
| 246 |
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],
|
| 247 |
+
"primitive_description": [
|
| 248 |
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"open"
|
| 249 |
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],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
89,
|
| 253 |
+
303
|
| 254 |
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],
|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
+
5,
|
| 259 |
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6,
|
| 260 |
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7
|
| 261 |
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]
|
| 262 |
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},
|
| 263 |
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{
|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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],
|
| 268 |
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"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
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],
|
| 271 |
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"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
303,
|
| 274 |
+
389
|
| 275 |
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],
|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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]
|
| 281 |
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}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000009.json
ADDED
|
@@ -0,0 +1,283 @@
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
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"data_folder": "",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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| 9 |
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| 10 |
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|
| 12 |
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| 15 |
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| 17 |
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|
| 18 |
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|
| 19 |
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],
|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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| 60 |
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| 61 |
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| 63 |
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| 67 |
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|
| 68 |
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| 69 |
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| 70 |
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|
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
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|
| 103 |
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| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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{
|
| 108 |
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|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
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"pick up from"
|
| 114 |
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],
|
| 115 |
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"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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],
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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177,
|
| 122 |
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229
|
| 123 |
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|
| 124 |
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|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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|
| 129 |
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3
|
| 130 |
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],
|
| 131 |
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|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
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"skill_type": [
|
| 135 |
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|
| 136 |
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],
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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229,
|
| 141 |
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277
|
| 142 |
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|
| 143 |
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|
| 144 |
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},
|
| 145 |
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{
|
| 146 |
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"skill_idx": 7,
|
| 147 |
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|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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277,
|
| 160 |
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289
|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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|
| 166 |
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| 167 |
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0
|
| 168 |
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],
|
| 169 |
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|
| 170 |
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"idle"
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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289,
|
| 179 |
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306
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| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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{
|
| 184 |
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|
| 185 |
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| 186 |
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1
|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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],
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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| 197 |
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306,
|
| 198 |
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332
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| 199 |
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|
| 200 |
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|
| 201 |
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| 202 |
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{
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| 203 |
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|
| 204 |
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| 205 |
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0
|
| 206 |
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],
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| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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],
|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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332,
|
| 217 |
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383
|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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| 223 |
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|
| 224 |
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|
| 225 |
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| 226 |
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|
| 227 |
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| 228 |
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| 229 |
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| 230 |
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|
| 231 |
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"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
96
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
96,
|
| 253 |
+
289
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
289,
|
| 274 |
+
383
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000010.json
ADDED
|
@@ -0,0 +1,283 @@
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
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|
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|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 395,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
395
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
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"spatial_prefix": [],
|
| 25 |
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"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
44
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
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"frame_duration": [
|
| 45 |
+
44,
|
| 46 |
+
73
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
73,
|
| 65 |
+
89
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
89,
|
| 84 |
+
114
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
114,
|
| 103 |
+
184
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
184,
|
| 122 |
+
232
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
232,
|
| 141 |
+
280
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
280,
|
| 160 |
+
291
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
291,
|
| 179 |
+
313
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
313,
|
| 198 |
+
339
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
339,
|
| 217 |
+
395
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
89
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
89,
|
| 253 |
+
291
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
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4
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"open"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
291,
|
| 274 |
+
395
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000011.json
ADDED
|
@@ -0,0 +1,283 @@
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|
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|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 402,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
402
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
46
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
46,
|
| 46 |
+
71
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
71,
|
| 65 |
+
87
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
87,
|
| 84 |
+
115
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
115,
|
| 103 |
+
183
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
183,
|
| 122 |
+
241
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
241,
|
| 141 |
+
296
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
296,
|
| 160 |
+
303
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
303,
|
| 179 |
+
320
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
320,
|
| 198 |
+
345
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
345,
|
| 217 |
+
402
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
87
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
87,
|
| 253 |
+
303
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
303,
|
| 274 |
+
402
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000012.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 365,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
365
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [],
|
| 12 |
+
"primitive_annotation": []
|
| 13 |
+
}
|
annotations/task-0000/episode_00000013.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 364,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
364
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
47
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
47,
|
| 46 |
+
67
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
67,
|
| 65 |
+
80
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
80,
|
| 84 |
+
108
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
108,
|
| 103 |
+
161
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
161,
|
| 122 |
+
205
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
205,
|
| 141 |
+
261
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
261,
|
| 160 |
+
273
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
273,
|
| 179 |
+
294
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
294,
|
| 198 |
+
318
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
318,
|
| 217 |
+
364
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
80
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
80,
|
| 253 |
+
273
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
273,
|
| 274 |
+
364
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000014.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 395,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
395
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
47
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
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|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
47,
|
| 46 |
+
72
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
72,
|
| 65 |
+
90
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
90,
|
| 84 |
+
119
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
119,
|
| 103 |
+
197
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
197,
|
| 122 |
+
240
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
240,
|
| 141 |
+
297
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
297,
|
| 160 |
+
305
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
305,
|
| 179 |
+
320
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
320,
|
| 198 |
+
340
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
340,
|
| 217 |
+
373
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
90
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
90,
|
| 253 |
+
305
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
305,
|
| 274 |
+
373
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000015.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 371,
|
| 6 |
+
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|
| 7 |
+
0,
|
| 8 |
+
371
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
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|
| 14 |
+
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|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
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|
| 25 |
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|
| 26 |
+
0,
|
| 27 |
+
49
|
| 28 |
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],
|
| 29 |
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"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
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|
| 34 |
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1
|
| 35 |
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],
|
| 36 |
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|
| 37 |
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"move to"
|
| 38 |
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|
| 39 |
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|
| 40 |
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"navigation"
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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49,
|
| 46 |
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71
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"uncoordinated"
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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71,
|
| 65 |
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83
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
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|
| 78 |
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"uncoordinated"
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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83,
|
| 84 |
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108
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
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"skill_type": [
|
| 97 |
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"navigation"
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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108,
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
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"pick up from"
|
| 114 |
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],
|
| 115 |
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"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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],
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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163,
|
| 122 |
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219
|
| 123 |
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|
| 124 |
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|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
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3
|
| 130 |
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],
|
| 131 |
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|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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0
|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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],
|
| 169 |
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|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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|
| 176 |
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|
| 177 |
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"frame_duration": [
|
| 178 |
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280,
|
| 179 |
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297
|
| 180 |
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],
|
| 181 |
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|
| 182 |
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},
|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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"skill_id": [
|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
+
"skill_type": [
|
| 211 |
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"uncoordinated"
|
| 212 |
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],
|
| 213 |
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|
| 214 |
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"spatial_prefix": [],
|
| 215 |
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"frame_duration": [
|
| 216 |
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317,
|
| 217 |
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369
|
| 218 |
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],
|
| 219 |
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"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
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],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
83
|
| 235 |
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],
|
| 236 |
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|
| 237 |
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|
| 238 |
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1,
|
| 239 |
+
2
|
| 240 |
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]
|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
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|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
83,
|
| 253 |
+
279
|
| 254 |
+
],
|
| 255 |
+
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|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
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|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
279,
|
| 274 |
+
369
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000016.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 369,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
369
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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{
|
| 32 |
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|
| 33 |
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|
| 34 |
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1
|
| 35 |
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|
| 36 |
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|
| 37 |
+
"move to"
|
| 38 |
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|
| 39 |
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|
| 40 |
+
"navigation"
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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66
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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0
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"uncoordinated"
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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66,
|
| 65 |
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85
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
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|
| 105 |
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|
| 106 |
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|
| 107 |
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{
|
| 108 |
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|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
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|
| 114 |
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],
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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3
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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| 139 |
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|
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| 141 |
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|
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| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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|
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|
| 148 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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| 167 |
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|
| 168 |
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| 169 |
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|
| 170 |
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"idle"
|
| 171 |
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|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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|
| 175 |
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| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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|
| 186 |
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1
|
| 187 |
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|
| 188 |
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|
| 189 |
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"move to"
|
| 190 |
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|
| 191 |
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|
| 192 |
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"navigation"
|
| 193 |
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|
| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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{
|
| 203 |
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|
| 204 |
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|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
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|
| 211 |
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"uncoordinated"
|
| 212 |
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],
|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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318,
|
| 217 |
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359
|
| 218 |
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],
|
| 219 |
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|
| 220 |
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}
|
| 221 |
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],
|
| 222 |
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"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
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"primitive_idx": 0,
|
| 225 |
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"primitive_id": [
|
| 226 |
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0
|
| 227 |
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],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
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|
| 233 |
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0,
|
| 234 |
+
85
|
| 235 |
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|
| 236 |
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|
| 237 |
+
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|
| 238 |
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1,
|
| 239 |
+
2
|
| 240 |
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]
|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
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|
| 244 |
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|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
85,
|
| 253 |
+
277
|
| 254 |
+
],
|
| 255 |
+
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|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
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|
| 266 |
+
0
|
| 267 |
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],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
277,
|
| 274 |
+
359
|
| 275 |
+
],
|
| 276 |
+
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|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
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10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000017.json
ADDED
|
@@ -0,0 +1,283 @@
|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 359,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
359
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
44
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
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"memory_prefix": [],
|
| 43 |
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"spatial_prefix": [],
|
| 44 |
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"frame_duration": [
|
| 45 |
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44,
|
| 46 |
+
71
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"skill_idx": 2,
|
| 52 |
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"skill_id": [
|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
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"uncoordinated"
|
| 60 |
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],
|
| 61 |
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"memory_prefix": [],
|
| 62 |
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"spatial_prefix": [],
|
| 63 |
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"frame_duration": [
|
| 64 |
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71,
|
| 65 |
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85
|
| 66 |
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],
|
| 67 |
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"mp_ef": []
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
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],
|
| 80 |
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|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
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|
| 83 |
+
85,
|
| 84 |
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102
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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"skill_idx": 4,
|
| 90 |
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"skill_id": [
|
| 91 |
+
1
|
| 92 |
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],
|
| 93 |
+
"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
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"skill_type": [
|
| 97 |
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"navigation"
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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102,
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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"skill_id": [
|
| 110 |
+
2
|
| 111 |
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],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
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],
|
| 115 |
+
"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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],
|
| 118 |
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"memory_prefix": [],
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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"mp_ef": []
|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
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3
|
| 130 |
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],
|
| 131 |
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"skill_description": [
|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
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"skill_type": [
|
| 135 |
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"uncoordinated"
|
| 136 |
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],
|
| 137 |
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|
| 138 |
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"spatial_prefix": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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{
|
| 146 |
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|
| 147 |
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"skill_id": [
|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
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|
| 151 |
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"idle"
|
| 152 |
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],
|
| 153 |
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"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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],
|
| 156 |
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|
| 157 |
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|
| 158 |
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"frame_duration": [
|
| 159 |
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256,
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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"skill_idx": 8,
|
| 166 |
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|
| 167 |
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|
| 168 |
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],
|
| 169 |
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"skill_description": [
|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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|
| 176 |
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"spatial_prefix": [],
|
| 177 |
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"frame_duration": [
|
| 178 |
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263,
|
| 179 |
+
278
|
| 180 |
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],
|
| 181 |
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"mp_ef": []
|
| 182 |
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},
|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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"skill_id": [
|
| 186 |
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1
|
| 187 |
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],
|
| 188 |
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"skill_description": [
|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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],
|
| 200 |
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"mp_ef": []
|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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"skill_id": [
|
| 205 |
+
0
|
| 206 |
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],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
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],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
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],
|
| 213 |
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"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
302,
|
| 217 |
+
359
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
85
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
85,
|
| 253 |
+
263
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
263,
|
| 274 |
+
359
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000018.json
ADDED
|
@@ -0,0 +1,283 @@
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 376,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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376
|
| 9 |
+
]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
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0
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
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],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
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],
|
| 23 |
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|
| 24 |
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|
| 25 |
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"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
45
|
| 28 |
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],
|
| 29 |
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"mp_ef": []
|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
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"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
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],
|
| 42 |
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"memory_prefix": [],
|
| 43 |
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|
| 44 |
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"frame_duration": [
|
| 45 |
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45,
|
| 46 |
+
71
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"skill_idx": 2,
|
| 52 |
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"skill_id": [
|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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|
| 56 |
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"idle"
|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
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"uncoordinated"
|
| 60 |
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],
|
| 61 |
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"memory_prefix": [],
|
| 62 |
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|
| 63 |
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"frame_duration": [
|
| 64 |
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71,
|
| 65 |
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93
|
| 66 |
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],
|
| 67 |
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"mp_ef": []
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 3,
|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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"skill_description": [
|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
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"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
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],
|
| 80 |
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"memory_prefix": [],
|
| 81 |
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"spatial_prefix": [],
|
| 82 |
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"frame_duration": [
|
| 83 |
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93,
|
| 84 |
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123
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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"skill_idx": 4,
|
| 90 |
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"skill_id": [
|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
+
"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
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"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
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],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [
|
| 102 |
+
123,
|
| 103 |
+
174
|
| 104 |
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],
|
| 105 |
+
"mp_ef": []
|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
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"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
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"frame_duration": [
|
| 121 |
+
174,
|
| 122 |
+
216
|
| 123 |
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],
|
| 124 |
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"mp_ef": []
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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|
| 129 |
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3
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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{
|
| 165 |
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|
| 166 |
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| 167 |
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|
| 168 |
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| 169 |
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| 170 |
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"idle"
|
| 171 |
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|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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],
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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| 198 |
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|
| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
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"skill_type": [
|
| 211 |
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"uncoordinated"
|
| 212 |
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],
|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
+
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|
| 217 |
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|
| 218 |
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],
|
| 219 |
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"mp_ef": []
|
| 220 |
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}
|
| 221 |
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],
|
| 222 |
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"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
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"primitive_idx": 0,
|
| 225 |
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"primitive_id": [
|
| 226 |
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0
|
| 227 |
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],
|
| 228 |
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"primitive_description": [
|
| 229 |
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"move_to"
|
| 230 |
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],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
93
|
| 235 |
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],
|
| 236 |
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|
| 237 |
+
0,
|
| 238 |
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1,
|
| 239 |
+
2
|
| 240 |
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]
|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
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"primitive_idx": 1,
|
| 244 |
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"primitive_id": [
|
| 245 |
+
4
|
| 246 |
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],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
93,
|
| 253 |
+
270
|
| 254 |
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],
|
| 255 |
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|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
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{
|
| 264 |
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"primitive_idx": 2,
|
| 265 |
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"primitive_id": [
|
| 266 |
+
0
|
| 267 |
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],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
270,
|
| 274 |
+
367
|
| 275 |
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],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000019.json
ADDED
|
@@ -0,0 +1,283 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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367
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| 9 |
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|
| 10 |
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},
|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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|
| 18 |
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"idle"
|
| 19 |
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],
|
| 20 |
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"skill_type": [
|
| 21 |
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"uncoordinated"
|
| 22 |
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],
|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
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"skill_idx": 1,
|
| 33 |
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|
| 34 |
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|
| 35 |
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],
|
| 36 |
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"skill_description": [
|
| 37 |
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"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
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"navigation"
|
| 41 |
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],
|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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|
| 46 |
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73
|
| 47 |
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|
| 48 |
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|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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0
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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"skill_type": [
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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| 64 |
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73,
|
| 65 |
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94
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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94,
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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119,
|
| 103 |
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173
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
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],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
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|
| 120 |
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|
| 121 |
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173,
|
| 122 |
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228
|
| 123 |
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],
|
| 124 |
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"mp_ef": []
|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
+
"skill_type": [
|
| 135 |
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"uncoordinated"
|
| 136 |
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],
|
| 137 |
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"memory_prefix": [],
|
| 138 |
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|
| 139 |
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|
| 140 |
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228,
|
| 141 |
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276
|
| 142 |
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],
|
| 143 |
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|
| 144 |
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},
|
| 145 |
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{
|
| 146 |
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"skill_idx": 7,
|
| 147 |
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|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
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"skill_description": [
|
| 151 |
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"idle"
|
| 152 |
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],
|
| 153 |
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"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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],
|
| 156 |
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"memory_prefix": [],
|
| 157 |
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|
| 158 |
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"frame_duration": [
|
| 159 |
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276,
|
| 160 |
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281
|
| 161 |
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],
|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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"skill_idx": 8,
|
| 166 |
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"skill_id": [
|
| 167 |
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0
|
| 168 |
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],
|
| 169 |
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"skill_description": [
|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
281,
|
| 179 |
+
295
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
295,
|
| 198 |
+
317
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
317,
|
| 217 |
+
367
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
94
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
94,
|
| 253 |
+
281
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
281,
|
| 274 |
+
367
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000020.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 374,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
374
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [],
|
| 12 |
+
"primitive_annotation": []
|
| 13 |
+
}
|
annotations/task-0000/episode_00000021.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 385,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
385
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
49
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
49,
|
| 46 |
+
74
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
74,
|
| 65 |
+
92
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
92,
|
| 84 |
+
119
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
119,
|
| 103 |
+
175
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
175,
|
| 122 |
+
228
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
228,
|
| 141 |
+
278
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
278,
|
| 160 |
+
286
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
286,
|
| 179 |
+
301
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
301,
|
| 198 |
+
324
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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|
| 204 |
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|
| 205 |
+
0
|
| 206 |
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],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
324,
|
| 217 |
+
365
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
92
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
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|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
92,
|
| 253 |
+
286
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
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"primitive_id": [
|
| 266 |
+
0
|
| 267 |
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],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
286,
|
| 274 |
+
365
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000022.json
ADDED
|
@@ -0,0 +1,283 @@
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 374,
|
| 6 |
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|
| 7 |
+
0,
|
| 8 |
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374
|
| 9 |
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|
| 10 |
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},
|
| 11 |
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|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
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0
|
| 16 |
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],
|
| 17 |
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|
| 18 |
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"idle"
|
| 19 |
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],
|
| 20 |
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"skill_type": [
|
| 21 |
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"uncoordinated"
|
| 22 |
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],
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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46
|
| 28 |
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|
| 29 |
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|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
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"skill_idx": 1,
|
| 33 |
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"skill_id": [
|
| 34 |
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1
|
| 35 |
+
],
|
| 36 |
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"skill_description": [
|
| 37 |
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"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
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],
|
| 42 |
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"memory_prefix": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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46,
|
| 46 |
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71
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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"skill_description": [
|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
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|
| 60 |
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],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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71,
|
| 65 |
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87
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
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"skill_type": [
|
| 78 |
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"uncoordinated"
|
| 79 |
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],
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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87,
|
| 84 |
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119
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
+
{
|
| 89 |
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|
| 90 |
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|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
+
119,
|
| 103 |
+
164
|
| 104 |
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],
|
| 105 |
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|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
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"frame_duration": [
|
| 121 |
+
164,
|
| 122 |
+
215
|
| 123 |
+
],
|
| 124 |
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"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
215,
|
| 141 |
+
266
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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],
|
| 156 |
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"memory_prefix": [],
|
| 157 |
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"spatial_prefix": [],
|
| 158 |
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"frame_duration": [
|
| 159 |
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266,
|
| 160 |
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273
|
| 161 |
+
],
|
| 162 |
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"mp_ef": []
|
| 163 |
+
},
|
| 164 |
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{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
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"skill_id": [
|
| 167 |
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0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
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|
| 176 |
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|
| 177 |
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|
| 178 |
+
273,
|
| 179 |
+
291
|
| 180 |
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],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
291,
|
| 198 |
+
313
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
313,
|
| 217 |
+
374
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
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0,
|
| 234 |
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87
|
| 235 |
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],
|
| 236 |
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"skill_idxes": [
|
| 237 |
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0,
|
| 238 |
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1,
|
| 239 |
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2
|
| 240 |
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]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
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4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
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"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
87,
|
| 253 |
+
273
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
273,
|
| 274 |
+
374
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000023.json
ADDED
|
@@ -0,0 +1,283 @@
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 365,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
365
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
48
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
48,
|
| 46 |
+
68
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
68,
|
| 65 |
+
83
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
83,
|
| 84 |
+
103
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
103,
|
| 103 |
+
150
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
150,
|
| 122 |
+
207
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
207,
|
| 141 |
+
257
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
257,
|
| 160 |
+
262
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
262,
|
| 179 |
+
282
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
282,
|
| 198 |
+
307
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
307,
|
| 217 |
+
365
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
83
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
83,
|
| 253 |
+
262
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
262,
|
| 274 |
+
365
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000024.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 393,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
393
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
46
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
46,
|
| 46 |
+
75
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
75,
|
| 65 |
+
89
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
89,
|
| 84 |
+
114
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
114,
|
| 103 |
+
176
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
176,
|
| 122 |
+
235
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
235,
|
| 141 |
+
286
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
286,
|
| 160 |
+
292
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
292,
|
| 179 |
+
314
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
314,
|
| 198 |
+
335
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
335,
|
| 217 |
+
372
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
89
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
89,
|
| 253 |
+
292
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
292,
|
| 274 |
+
372
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000025.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 385,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
385
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
38
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
38,
|
| 46 |
+
60
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
60,
|
| 65 |
+
79
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
79,
|
| 84 |
+
98
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
98,
|
| 103 |
+
165
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
165,
|
| 122 |
+
227
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
227,
|
| 141 |
+
279
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
279,
|
| 160 |
+
287
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
287,
|
| 179 |
+
298
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
298,
|
| 198 |
+
319
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
319,
|
| 217 |
+
362
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
79
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
79,
|
| 253 |
+
287
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
287,
|
| 274 |
+
362
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000026.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 372,
|
| 6 |
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|
| 7 |
+
0,
|
| 8 |
+
372
|
| 9 |
+
]
|
| 10 |
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},
|
| 11 |
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|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
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0
|
| 16 |
+
],
|
| 17 |
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|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
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],
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
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"skill_idx": 1,
|
| 33 |
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|
| 34 |
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1
|
| 35 |
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|
| 36 |
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|
| 37 |
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"move to"
|
| 38 |
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|
| 39 |
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|
| 40 |
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"navigation"
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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84
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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84,
|
| 65 |
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96
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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|
| 76 |
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],
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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{
|
| 108 |
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|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
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"pick up from"
|
| 114 |
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],
|
| 115 |
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"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
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3
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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{
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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{
|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
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"skill_type": [
|
| 211 |
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"uncoordinated"
|
| 212 |
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],
|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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307,
|
| 217 |
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356
|
| 218 |
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],
|
| 219 |
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"mp_ef": []
|
| 220 |
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}
|
| 221 |
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],
|
| 222 |
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"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
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"primitive_id": [
|
| 226 |
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0
|
| 227 |
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],
|
| 228 |
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"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
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|
| 233 |
+
0,
|
| 234 |
+
96
|
| 235 |
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],
|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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]
|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
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|
| 244 |
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|
| 245 |
+
4
|
| 246 |
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],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
96,
|
| 253 |
+
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|
| 254 |
+
],
|
| 255 |
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|
| 256 |
+
3,
|
| 257 |
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4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
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{
|
| 264 |
+
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|
| 265 |
+
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|
| 266 |
+
0
|
| 267 |
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],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
269,
|
| 274 |
+
356
|
| 275 |
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],
|
| 276 |
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|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
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10
|
| 280 |
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]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000027.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 362,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
362
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
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|
| 15 |
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0
|
| 16 |
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|
| 17 |
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|
| 18 |
+
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|
| 19 |
+
],
|
| 20 |
+
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|
| 21 |
+
"uncoordinated"
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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48
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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{
|
| 32 |
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|
| 33 |
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|
| 34 |
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1
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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"navigation"
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"uncoordinated"
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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86
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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0
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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|
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|
| 148 |
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| 150 |
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| 151 |
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|
| 152 |
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| 153 |
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|
| 154 |
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|
| 155 |
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| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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| 167 |
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|
| 168 |
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| 169 |
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| 170 |
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"idle"
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| 171 |
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|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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|
| 175 |
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| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"move to"
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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|
| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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{
|
| 203 |
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|
| 204 |
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|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
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|
| 211 |
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"uncoordinated"
|
| 212 |
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],
|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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],
|
| 219 |
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|
| 220 |
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}
|
| 221 |
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],
|
| 222 |
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"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
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"primitive_idx": 0,
|
| 225 |
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"primitive_id": [
|
| 226 |
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0
|
| 227 |
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],
|
| 228 |
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"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
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|
| 233 |
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0,
|
| 234 |
+
86
|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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1,
|
| 239 |
+
2
|
| 240 |
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|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
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|
| 244 |
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|
| 245 |
+
4
|
| 246 |
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],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
86,
|
| 253 |
+
271
|
| 254 |
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],
|
| 255 |
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|
| 256 |
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3,
|
| 257 |
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4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
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|
| 265 |
+
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|
| 266 |
+
0
|
| 267 |
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],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
271,
|
| 274 |
+
362
|
| 275 |
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],
|
| 276 |
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|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
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10
|
| 280 |
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]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000028.json
ADDED
|
@@ -0,0 +1,283 @@
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 356,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
356
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
44
|
| 28 |
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],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
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],
|
| 42 |
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"memory_prefix": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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44,
|
| 46 |
+
68
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"skill_idx": 2,
|
| 52 |
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"skill_id": [
|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
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"uncoordinated"
|
| 60 |
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],
|
| 61 |
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"memory_prefix": [],
|
| 62 |
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"spatial_prefix": [],
|
| 63 |
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"frame_duration": [
|
| 64 |
+
68,
|
| 65 |
+
84
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
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"skill_type": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
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"pick up from"
|
| 114 |
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],
|
| 115 |
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"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
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3
|
| 130 |
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],
|
| 131 |
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|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
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"skill_type": [
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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{
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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"skill_idx": 8,
|
| 166 |
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|
| 167 |
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|
| 168 |
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],
|
| 169 |
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"skill_description": [
|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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|
| 176 |
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|
| 177 |
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"frame_duration": [
|
| 178 |
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264,
|
| 179 |
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277
|
| 180 |
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],
|
| 181 |
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"mp_ef": []
|
| 182 |
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},
|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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"skill_id": [
|
| 186 |
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1
|
| 187 |
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],
|
| 188 |
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"skill_description": [
|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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"skill_id": [
|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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"skill_description": [
|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
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],
|
| 213 |
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"memory_prefix": [],
|
| 214 |
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"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
302,
|
| 217 |
+
356
|
| 218 |
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],
|
| 219 |
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"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
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],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
84
|
| 235 |
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],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
84,
|
| 253 |
+
264
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
264,
|
| 274 |
+
356
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000029.json
ADDED
|
@@ -0,0 +1,283 @@
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|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 398,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
398
|
| 9 |
+
]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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|
| 15 |
+
0
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
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],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
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],
|
| 23 |
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"memory_prefix": [],
|
| 24 |
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|
| 25 |
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"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
51
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
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],
|
| 42 |
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"memory_prefix": [],
|
| 43 |
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"spatial_prefix": [],
|
| 44 |
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"frame_duration": [
|
| 45 |
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51,
|
| 46 |
+
78
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"skill_idx": 2,
|
| 52 |
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"skill_id": [
|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
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],
|
| 61 |
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"memory_prefix": [],
|
| 62 |
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"spatial_prefix": [],
|
| 63 |
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"frame_duration": [
|
| 64 |
+
78,
|
| 65 |
+
105
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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"skill_description": [
|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
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],
|
| 80 |
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"memory_prefix": [],
|
| 81 |
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"spatial_prefix": [],
|
| 82 |
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"frame_duration": [
|
| 83 |
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105,
|
| 84 |
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124
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
+
{
|
| 89 |
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"skill_idx": 4,
|
| 90 |
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"skill_id": [
|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
+
"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
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],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [
|
| 102 |
+
124,
|
| 103 |
+
186
|
| 104 |
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],
|
| 105 |
+
"mp_ef": []
|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
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"uncoordinated"
|
| 117 |
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],
|
| 118 |
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"memory_prefix": [],
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
+
3
|
| 130 |
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],
|
| 131 |
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|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
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"skill_type": [
|
| 135 |
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"uncoordinated"
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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"skill_idx": 8,
|
| 166 |
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|
| 167 |
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|
| 168 |
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],
|
| 169 |
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"skill_description": [
|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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|
| 176 |
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|
| 177 |
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"frame_duration": [
|
| 178 |
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297,
|
| 179 |
+
307
|
| 180 |
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],
|
| 181 |
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|
| 182 |
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},
|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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"skill_id": [
|
| 186 |
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1
|
| 187 |
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],
|
| 188 |
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"skill_description": [
|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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{
|
| 203 |
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"skill_idx": 10,
|
| 204 |
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"skill_id": [
|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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"skill_description": [
|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
+
"skill_type": [
|
| 211 |
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"uncoordinated"
|
| 212 |
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],
|
| 213 |
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"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
329,
|
| 217 |
+
370
|
| 218 |
+
],
|
| 219 |
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"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
105
|
| 235 |
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],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
105,
|
| 253 |
+
297
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
297,
|
| 274 |
+
370
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000030.json
ADDED
|
@@ -0,0 +1,283 @@
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|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 384,
|
| 6 |
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|
| 7 |
+
0,
|
| 8 |
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384
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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|
| 12 |
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{
|
| 13 |
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| 14 |
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|
| 15 |
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0
|
| 16 |
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],
|
| 17 |
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|
| 18 |
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"idle"
|
| 19 |
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],
|
| 20 |
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"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
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],
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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45
|
| 28 |
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],
|
| 29 |
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"mp_ef": []
|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
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"skill_idx": 1,
|
| 33 |
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|
| 34 |
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1
|
| 35 |
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],
|
| 36 |
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"skill_description": [
|
| 37 |
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"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
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"navigation"
|
| 41 |
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],
|
| 42 |
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|
| 43 |
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| 44 |
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|
| 45 |
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45,
|
| 46 |
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70
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"skill_idx": 2,
|
| 52 |
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"skill_id": [
|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
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|
| 60 |
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],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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70,
|
| 65 |
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93
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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|
| 76 |
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],
|
| 77 |
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"skill_type": [
|
| 78 |
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"uncoordinated"
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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93,
|
| 84 |
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115
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
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"skill_type": [
|
| 97 |
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"navigation"
|
| 98 |
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],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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115,
|
| 103 |
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175
|
| 104 |
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],
|
| 105 |
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|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
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"frame_duration": [
|
| 121 |
+
175,
|
| 122 |
+
236
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
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{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
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"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
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],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
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"spatial_prefix": [],
|
| 139 |
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"frame_duration": [
|
| 140 |
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236,
|
| 141 |
+
288
|
| 142 |
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],
|
| 143 |
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"mp_ef": []
|
| 144 |
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},
|
| 145 |
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{
|
| 146 |
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"skill_idx": 7,
|
| 147 |
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"skill_id": [
|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
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"skill_description": [
|
| 151 |
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"idle"
|
| 152 |
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],
|
| 153 |
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"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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],
|
| 156 |
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"memory_prefix": [],
|
| 157 |
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"spatial_prefix": [],
|
| 158 |
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"frame_duration": [
|
| 159 |
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288,
|
| 160 |
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294
|
| 161 |
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],
|
| 162 |
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"mp_ef": []
|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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|
| 166 |
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| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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"skill_description": [
|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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{
|
| 203 |
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|
| 204 |
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"skill_id": [
|
| 205 |
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0
|
| 206 |
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],
|
| 207 |
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"skill_description": [
|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
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],
|
| 213 |
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|
| 214 |
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"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
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|
| 217 |
+
384
|
| 218 |
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],
|
| 219 |
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"mp_ef": []
|
| 220 |
+
}
|
| 221 |
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],
|
| 222 |
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"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
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],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
93
|
| 235 |
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],
|
| 236 |
+
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|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
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},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
93,
|
| 253 |
+
294
|
| 254 |
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],
|
| 255 |
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|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
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{
|
| 264 |
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"primitive_idx": 2,
|
| 265 |
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"primitive_id": [
|
| 266 |
+
0
|
| 267 |
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],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
294,
|
| 274 |
+
384
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000031.json
ADDED
|
@@ -0,0 +1,283 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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370
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
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| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"skill_type": [
|
| 21 |
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|
| 22 |
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],
|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
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| 33 |
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|
| 34 |
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|
| 35 |
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],
|
| 36 |
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"skill_description": [
|
| 37 |
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"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
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"navigation"
|
| 41 |
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],
|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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0
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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89
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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89,
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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112,
|
| 103 |
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171
|
| 104 |
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],
|
| 105 |
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|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
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"skill_idx": 5,
|
| 109 |
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|
| 110 |
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2
|
| 111 |
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],
|
| 112 |
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"skill_description": [
|
| 113 |
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"pick up from"
|
| 114 |
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],
|
| 115 |
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"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
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],
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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171,
|
| 122 |
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221
|
| 123 |
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],
|
| 124 |
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|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"skill_idx": 6,
|
| 128 |
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"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
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"skill_description": [
|
| 132 |
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"place on"
|
| 133 |
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],
|
| 134 |
+
"skill_type": [
|
| 135 |
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"uncoordinated"
|
| 136 |
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],
|
| 137 |
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"memory_prefix": [],
|
| 138 |
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|
| 139 |
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|
| 140 |
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221,
|
| 141 |
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272
|
| 142 |
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],
|
| 143 |
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|
| 144 |
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},
|
| 145 |
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{
|
| 146 |
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"skill_idx": 7,
|
| 147 |
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|
| 148 |
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0
|
| 149 |
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],
|
| 150 |
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|
| 151 |
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"idle"
|
| 152 |
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],
|
| 153 |
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"skill_type": [
|
| 154 |
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"uncoordinated"
|
| 155 |
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],
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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272,
|
| 160 |
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286
|
| 161 |
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],
|
| 162 |
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|
| 163 |
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},
|
| 164 |
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{
|
| 165 |
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"skill_idx": 8,
|
| 166 |
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|
| 167 |
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0
|
| 168 |
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],
|
| 169 |
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"skill_description": [
|
| 170 |
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"idle"
|
| 171 |
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],
|
| 172 |
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"skill_type": [
|
| 173 |
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"uncoordinated"
|
| 174 |
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],
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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286,
|
| 179 |
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300
|
| 180 |
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],
|
| 181 |
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|
| 182 |
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},
|
| 183 |
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{
|
| 184 |
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"skill_idx": 9,
|
| 185 |
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|
| 186 |
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1
|
| 187 |
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],
|
| 188 |
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"skill_description": [
|
| 189 |
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"move to"
|
| 190 |
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],
|
| 191 |
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"skill_type": [
|
| 192 |
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"navigation"
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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300,
|
| 198 |
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322
|
| 199 |
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],
|
| 200 |
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|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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|
| 204 |
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| 205 |
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0
|
| 206 |
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],
|
| 207 |
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|
| 208 |
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"idle"
|
| 209 |
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],
|
| 210 |
+
"skill_type": [
|
| 211 |
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"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
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"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
322,
|
| 217 |
+
370
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
89
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
89,
|
| 253 |
+
286
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
286,
|
| 274 |
+
370
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000032.json
ADDED
|
@@ -0,0 +1,283 @@
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 407,
|
| 6 |
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|
| 7 |
+
0,
|
| 8 |
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407
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
+
0
|
| 16 |
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],
|
| 17 |
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|
| 18 |
+
"idle"
|
| 19 |
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],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
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],
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
+
0,
|
| 27 |
+
48
|
| 28 |
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],
|
| 29 |
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"mp_ef": []
|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
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"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
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"spatial_prefix": [],
|
| 44 |
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"frame_duration": [
|
| 45 |
+
48,
|
| 46 |
+
77
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
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"skill_id": [
|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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"skill_description": [
|
| 56 |
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"idle"
|
| 57 |
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],
|
| 58 |
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"skill_type": [
|
| 59 |
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"uncoordinated"
|
| 60 |
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],
|
| 61 |
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"memory_prefix": [],
|
| 62 |
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|
| 63 |
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|
| 64 |
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77,
|
| 65 |
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88
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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|
| 71 |
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"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
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"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
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],
|
| 80 |
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"memory_prefix": [],
|
| 81 |
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"spatial_prefix": [],
|
| 82 |
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|
| 83 |
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88,
|
| 84 |
+
112
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
112,
|
| 103 |
+
165
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
165,
|
| 122 |
+
251
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
251,
|
| 141 |
+
300
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
300,
|
| 160 |
+
306
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
306,
|
| 179 |
+
322
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
322,
|
| 198 |
+
348
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
348,
|
| 217 |
+
396
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
88
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
88,
|
| 253 |
+
306
|
| 254 |
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],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
306,
|
| 274 |
+
396
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000033.json
ADDED
|
@@ -0,0 +1,283 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 402,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
402
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
47
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
47,
|
| 46 |
+
72
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
72,
|
| 65 |
+
88
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
88,
|
| 84 |
+
112
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
112,
|
| 103 |
+
176
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
176,
|
| 122 |
+
242
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
242,
|
| 141 |
+
293
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
293,
|
| 160 |
+
299
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
299,
|
| 179 |
+
316
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
316,
|
| 198 |
+
341
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
341,
|
| 217 |
+
388
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
88
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
88,
|
| 253 |
+
300
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7,
|
| 261 |
+
8
|
| 262 |
+
]
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"primitive_idx": 2,
|
| 266 |
+
"primitive_id": [
|
| 267 |
+
0
|
| 268 |
+
],
|
| 269 |
+
"primitive_description": [
|
| 270 |
+
"move_to"
|
| 271 |
+
],
|
| 272 |
+
"instruction": "Move backward.",
|
| 273 |
+
"frame_duration": [
|
| 274 |
+
300,
|
| 275 |
+
388
|
| 276 |
+
],
|
| 277 |
+
"skill_idxes": [
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000034.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 395,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
395
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
45
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
+
"frame_duration": [
|
| 45 |
+
45,
|
| 46 |
+
72
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
+
],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
+
],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
+
"frame_duration": [
|
| 64 |
+
72,
|
| 65 |
+
90
|
| 66 |
+
],
|
| 67 |
+
"mp_ef": []
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
+
"skill_id": [
|
| 72 |
+
0
|
| 73 |
+
],
|
| 74 |
+
"skill_description": [
|
| 75 |
+
"idle"
|
| 76 |
+
],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
+
],
|
| 80 |
+
"memory_prefix": [],
|
| 81 |
+
"spatial_prefix": [],
|
| 82 |
+
"frame_duration": [
|
| 83 |
+
90,
|
| 84 |
+
114
|
| 85 |
+
],
|
| 86 |
+
"mp_ef": []
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
+
"skill_id": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"skill_description": [
|
| 94 |
+
"move to"
|
| 95 |
+
],
|
| 96 |
+
"skill_type": [
|
| 97 |
+
"navigation"
|
| 98 |
+
],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [
|
| 102 |
+
114,
|
| 103 |
+
175
|
| 104 |
+
],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
+
"frame_duration": [
|
| 121 |
+
175,
|
| 122 |
+
233
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
+
"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
+
],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
233,
|
| 141 |
+
286
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
286,
|
| 160 |
+
297
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
0
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"idle"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"uncoordinated"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
297,
|
| 179 |
+
313
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"move to"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"navigation"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
313,
|
| 198 |
+
336
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 10,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
0
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"idle"
|
| 209 |
+
],
|
| 210 |
+
"skill_type": [
|
| 211 |
+
"uncoordinated"
|
| 212 |
+
],
|
| 213 |
+
"memory_prefix": [],
|
| 214 |
+
"spatial_prefix": [],
|
| 215 |
+
"frame_duration": [
|
| 216 |
+
336,
|
| 217 |
+
376
|
| 218 |
+
],
|
| 219 |
+
"mp_ef": []
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"primitive_annotation": [
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 0,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"move_to"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
0,
|
| 234 |
+
90
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
0,
|
| 238 |
+
1,
|
| 239 |
+
2
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"primitive_idx": 1,
|
| 244 |
+
"primitive_id": [
|
| 245 |
+
4
|
| 246 |
+
],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
"open"
|
| 249 |
+
],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
"frame_duration": [
|
| 252 |
+
90,
|
| 253 |
+
296
|
| 254 |
+
],
|
| 255 |
+
"skill_idxes": [
|
| 256 |
+
3,
|
| 257 |
+
4,
|
| 258 |
+
5,
|
| 259 |
+
6,
|
| 260 |
+
7
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"primitive_idx": 2,
|
| 265 |
+
"primitive_id": [
|
| 266 |
+
0
|
| 267 |
+
],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
+
],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
"frame_duration": [
|
| 273 |
+
296,
|
| 274 |
+
376
|
| 275 |
+
],
|
| 276 |
+
"skill_idxes": [
|
| 277 |
+
8,
|
| 278 |
+
9,
|
| 279 |
+
10
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000035.json
ADDED
|
@@ -0,0 +1,263 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 386,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
386
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
+
],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
+
"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
48
|
| 28 |
+
],
|
| 29 |
+
"mp_ef": []
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
+
],
|
| 39 |
+
"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
+
],
|
| 42 |
+
"memory_prefix": [],
|
| 43 |
+
"spatial_prefix": [],
|
| 44 |
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"frame_duration": [
|
| 45 |
+
48,
|
| 46 |
+
71
|
| 47 |
+
],
|
| 48 |
+
"mp_ef": []
|
| 49 |
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},
|
| 50 |
+
{
|
| 51 |
+
"skill_idx": 2,
|
| 52 |
+
"skill_id": [
|
| 53 |
+
0
|
| 54 |
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],
|
| 55 |
+
"skill_description": [
|
| 56 |
+
"idle"
|
| 57 |
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],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
|
| 60 |
+
],
|
| 61 |
+
"memory_prefix": [],
|
| 62 |
+
"spatial_prefix": [],
|
| 63 |
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"frame_duration": [
|
| 64 |
+
71,
|
| 65 |
+
86
|
| 66 |
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],
|
| 67 |
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"mp_ef": []
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 3,
|
| 71 |
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"skill_id": [
|
| 72 |
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0
|
| 73 |
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],
|
| 74 |
+
"skill_description": [
|
| 75 |
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"idle"
|
| 76 |
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],
|
| 77 |
+
"skill_type": [
|
| 78 |
+
"uncoordinated"
|
| 79 |
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],
|
| 80 |
+
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|
| 81 |
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|
| 82 |
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"frame_duration": [
|
| 83 |
+
86,
|
| 84 |
+
109
|
| 85 |
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],
|
| 86 |
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"mp_ef": []
|
| 87 |
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},
|
| 88 |
+
{
|
| 89 |
+
"skill_idx": 4,
|
| 90 |
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"skill_id": [
|
| 91 |
+
1
|
| 92 |
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],
|
| 93 |
+
"skill_description": [
|
| 94 |
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"move to"
|
| 95 |
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],
|
| 96 |
+
"skill_type": [
|
| 97 |
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"navigation"
|
| 98 |
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],
|
| 99 |
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|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [
|
| 102 |
+
109,
|
| 103 |
+
169
|
| 104 |
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],
|
| 105 |
+
"mp_ef": []
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"skill_idx": 5,
|
| 109 |
+
"skill_id": [
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"skill_description": [
|
| 113 |
+
"pick up from"
|
| 114 |
+
],
|
| 115 |
+
"skill_type": [
|
| 116 |
+
"uncoordinated"
|
| 117 |
+
],
|
| 118 |
+
"memory_prefix": [],
|
| 119 |
+
"spatial_prefix": [],
|
| 120 |
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"frame_duration": [
|
| 121 |
+
169,
|
| 122 |
+
237
|
| 123 |
+
],
|
| 124 |
+
"mp_ef": []
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"skill_idx": 6,
|
| 128 |
+
"skill_id": [
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"skill_description": [
|
| 132 |
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"place on"
|
| 133 |
+
],
|
| 134 |
+
"skill_type": [
|
| 135 |
+
"uncoordinated"
|
| 136 |
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],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
237,
|
| 141 |
+
295
|
| 142 |
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],
|
| 143 |
+
"mp_ef": []
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"skill_idx": 7,
|
| 147 |
+
"skill_id": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"skill_description": [
|
| 151 |
+
"idle"
|
| 152 |
+
],
|
| 153 |
+
"skill_type": [
|
| 154 |
+
"uncoordinated"
|
| 155 |
+
],
|
| 156 |
+
"memory_prefix": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
295,
|
| 160 |
+
309
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": []
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"skill_idx": 8,
|
| 166 |
+
"skill_id": [
|
| 167 |
+
1
|
| 168 |
+
],
|
| 169 |
+
"skill_description": [
|
| 170 |
+
"move to"
|
| 171 |
+
],
|
| 172 |
+
"skill_type": [
|
| 173 |
+
"navigation"
|
| 174 |
+
],
|
| 175 |
+
"memory_prefix": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
309,
|
| 179 |
+
331
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": []
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"skill_idx": 9,
|
| 185 |
+
"skill_id": [
|
| 186 |
+
0
|
| 187 |
+
],
|
| 188 |
+
"skill_description": [
|
| 189 |
+
"idle"
|
| 190 |
+
],
|
| 191 |
+
"skill_type": [
|
| 192 |
+
"uncoordinated"
|
| 193 |
+
],
|
| 194 |
+
"memory_prefix": [],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [
|
| 197 |
+
331,
|
| 198 |
+
386
|
| 199 |
+
],
|
| 200 |
+
"mp_ef": []
|
| 201 |
+
}
|
| 202 |
+
],
|
| 203 |
+
"primitive_annotation": [
|
| 204 |
+
{
|
| 205 |
+
"primitive_idx": 0,
|
| 206 |
+
"primitive_id": [
|
| 207 |
+
0
|
| 208 |
+
],
|
| 209 |
+
"primitive_description": [
|
| 210 |
+
"move_to"
|
| 211 |
+
],
|
| 212 |
+
"instruction": "Move to the front of the refrigerator.",
|
| 213 |
+
"frame_duration": [
|
| 214 |
+
0,
|
| 215 |
+
85
|
| 216 |
+
],
|
| 217 |
+
"skill_idxes": [
|
| 218 |
+
0,
|
| 219 |
+
1,
|
| 220 |
+
2
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 1,
|
| 225 |
+
"primitive_id": [
|
| 226 |
+
4
|
| 227 |
+
],
|
| 228 |
+
"primitive_description": [
|
| 229 |
+
"open"
|
| 230 |
+
],
|
| 231 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 232 |
+
"frame_duration": [
|
| 233 |
+
85,
|
| 234 |
+
294
|
| 235 |
+
],
|
| 236 |
+
"skill_idxes": [
|
| 237 |
+
3,
|
| 238 |
+
4,
|
| 239 |
+
5,
|
| 240 |
+
6
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"primitive_idx": 2,
|
| 245 |
+
"primitive_id": [
|
| 246 |
+
0
|
| 247 |
+
],
|
| 248 |
+
"primitive_description": [
|
| 249 |
+
"move_to"
|
| 250 |
+
],
|
| 251 |
+
"instruction": "Move backward.",
|
| 252 |
+
"frame_duration": [
|
| 253 |
+
294,
|
| 254 |
+
386
|
| 255 |
+
],
|
| 256 |
+
"skill_idxes": [
|
| 257 |
+
7,
|
| 258 |
+
8,
|
| 259 |
+
9
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
]
|
| 263 |
+
}
|
annotations/task-0000/episode_00000036.json
ADDED
|
@@ -0,0 +1,283 @@
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 375,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
375
|
| 9 |
+
]
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
+
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|
| 19 |
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|
| 20 |
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|
| 21 |
+
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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|
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| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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0
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 101 |
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|
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| 103 |
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|
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| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
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|
| 110 |
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|
| 111 |
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],
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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|
| 122 |
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|
| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 132 |
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| 133 |
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|
| 134 |
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|
| 135 |
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| 137 |
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| 138 |
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| 139 |
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| 143 |
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|
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| 152 |
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| 154 |
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| 160 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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"idle"
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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|
| 182 |
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| 183 |
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|
| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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],
|
| 219 |
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|
| 220 |
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}
|
| 221 |
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],
|
| 222 |
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"primitive_annotation": [
|
| 223 |
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{
|
| 224 |
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"primitive_idx": 0,
|
| 225 |
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"primitive_id": [
|
| 226 |
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0
|
| 227 |
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],
|
| 228 |
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"primitive_description": [
|
| 229 |
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|
| 230 |
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],
|
| 231 |
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"instruction": "Move to the front of the refrigerator.",
|
| 232 |
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|
| 233 |
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0,
|
| 234 |
+
87
|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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},
|
| 242 |
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{
|
| 243 |
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|
| 244 |
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|
| 245 |
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4
|
| 246 |
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],
|
| 247 |
+
"primitive_description": [
|
| 248 |
+
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|
| 249 |
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],
|
| 250 |
+
"instruction": "Open the refrigerator door with the right gripper.",
|
| 251 |
+
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|
| 252 |
+
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|
| 253 |
+
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|
| 254 |
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|
| 255 |
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|
| 256 |
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3,
|
| 257 |
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4,
|
| 258 |
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5,
|
| 259 |
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6,
|
| 260 |
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7
|
| 261 |
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]
|
| 262 |
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},
|
| 263 |
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{
|
| 264 |
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|
| 265 |
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|
| 266 |
+
0
|
| 267 |
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],
|
| 268 |
+
"primitive_description": [
|
| 269 |
+
"move_to"
|
| 270 |
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],
|
| 271 |
+
"instruction": "Move backward.",
|
| 272 |
+
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|
| 273 |
+
275,
|
| 274 |
+
375
|
| 275 |
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],
|
| 276 |
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|
| 277 |
+
8,
|
| 278 |
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9,
|
| 279 |
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10
|
| 280 |
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]
|
| 281 |
+
}
|
| 282 |
+
]
|
| 283 |
+
}
|
annotations/task-0000/episode_00000037.json
ADDED
|
@@ -0,0 +1,283 @@
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|
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|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "Open the refrigerator door with the right gripper.",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 417,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
417
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
0
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"idle"
|
| 19 |
+
],
|
| 20 |
+
"skill_type": [
|
| 21 |
+
"uncoordinated"
|
| 22 |
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],
|
| 23 |
+
"memory_prefix": [],
|
| 24 |
+
"spatial_prefix": [],
|
| 25 |
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"frame_duration": [
|
| 26 |
+
0,
|
| 27 |
+
47
|
| 28 |
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],
|
| 29 |
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"mp_ef": []
|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
+
"skill_idx": 1,
|
| 33 |
+
"skill_id": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
+
"skill_description": [
|
| 37 |
+
"move to"
|
| 38 |
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],
|
| 39 |
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"skill_type": [
|
| 40 |
+
"navigation"
|
| 41 |
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],
|
| 42 |
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"memory_prefix": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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47,
|
| 46 |
+
73
|
| 47 |
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],
|
| 48 |
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"mp_ef": []
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"skill_idx": 2,
|
| 52 |
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|
| 53 |
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0
|
| 54 |
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],
|
| 55 |
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"skill_description": [
|
| 56 |
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"idle"
|
| 57 |
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],
|
| 58 |
+
"skill_type": [
|
| 59 |
+
"uncoordinated"
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| 60 |
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