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- annotations/task-0001/episode_00010270.json +211 -0
- annotations/task-0001/episode_00010460.json +211 -0
- annotations/task-0001/episode_00010530.json +211 -0
- annotations/task-0001/episode_00010550.json +211 -0
- annotations/task-0001/episode_00011170.json +211 -0
- annotations/task-0001/episode_00011810.json +211 -0
- annotations/task-0001/episode_00012030.json +211 -0
- annotations/task-0001/episode_00012100.json +211 -0
- annotations/task-0001/episode_00012150.json +211 -0
- annotations/task-0001/episode_00012360.json +211 -0
- annotations/task-0001/episode_00012370.json +211 -0
- annotations/task-0001/episode_00012820.json +211 -0
- data/task-0501/episode_00010010.parquet +3 -0
- data/task-0501/episode_00010020.parquet +3 -0
- data/task-0501/episode_00010030.parquet +3 -0
- data/task-0501/episode_00010040.parquet +3 -0
- data/task-0501/episode_00010120.parquet +3 -0
- data/task-0501/episode_00010150.parquet +3 -0
- data/task-0501/episode_00010220.parquet +3 -0
- data/task-0501/episode_00010230.parquet +3 -0
- data/task-0501/episode_00010240.parquet +3 -0
- data/task-0501/episode_00010250.parquet +3 -0
- data/task-0501/episode_00010300.parquet +3 -0
- data/task-0501/episode_00010330.parquet +3 -0
- data/task-0501/episode_00010340.parquet +3 -0
- data/task-0501/episode_00010380.parquet +3 -0
- data/task-0501/episode_00010390.parquet +3 -0
- data/task-0501/episode_00010410.parquet +3 -0
- data/task-0501/episode_00010490.parquet +3 -0
- data/task-0501/episode_00010510.parquet +3 -0
- data/task-0501/episode_00010530.parquet +3 -0
- data/task-0501/episode_00010540.parquet +3 -0
- data/task-0501/episode_00010650.parquet +3 -0
- data/task-0501/episode_00010660.parquet +3 -0
- data/task-0501/episode_00010730.parquet +3 -0
- data/task-0501/episode_00010750.parquet +3 -0
- data/task-0501/episode_00010850.parquet +3 -0
- data/task-0501/episode_00010900.parquet +3 -0
- data/task-0501/episode_00010930.parquet +3 -0
- data/task-0501/episode_00011040.parquet +3 -0
- data/task-0501/episode_00011130.parquet +3 -0
- data/task-0501/episode_00011150.parquet +3 -0
- data/task-0501/episode_00011170.parquet +3 -0
- data/task-0501/episode_00011200.parquet +3 -0
- data/task-0501/episode_00011210.parquet +3 -0
- data/task-0501/episode_00011220.parquet +3 -0
- data/task-0501/episode_00011230.parquet +3 -0
- data/task-0501/episode_00011260.parquet +3 -0
- data/task-0501/episode_00011330.parquet +3 -0
- data/task-0501/episode_00011380.parquet +3 -0
annotations/task-0001/episode_00010270.json
ADDED
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| 1 |
+
{
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| 2 |
+
"task_name": "picking up trash",
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| 3 |
+
"data_folder": "",
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| 4 |
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"meta_data": {
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| 5 |
+
"task_duration": 7794,
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| 6 |
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"valid_duration": [50, 7844]
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| 7 |
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},
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| 8 |
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"skill_annotation": [
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| 9 |
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{
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| 10 |
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"skill_idx": 0,
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| 11 |
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"skill_id": [1],
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["trash_can_116"]],
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| 14 |
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"manipulating_object_id": [],
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| 15 |
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"memory_prefix": [],
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| 16 |
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"spatial_prefix": [],
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| 17 |
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"frame_duration": [50, 483],
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| 18 |
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"mp_ef": [],
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| 19 |
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"skill_type": ["navigation"]
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| 20 |
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},
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| 21 |
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [2],
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| 24 |
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"skill_description": ["pick up from"],
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| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
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| 26 |
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"manipulating_object_id": ["trash_can_116"],
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| 27 |
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"memory_prefix": [],
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| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [484, 1008],
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| 30 |
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"mp_ef": [],
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| 31 |
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"skill_type": ["uncoordinated"]
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| 32 |
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},
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| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
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| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
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| 40 |
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [1008, 2006],
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| 42 |
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"mp_ef": [],
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| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
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| 45 |
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{
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| 46 |
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"skill_idx": 3,
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| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
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| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 51 |
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"memory_prefix": [],
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| 52 |
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"spatial_prefix": [],
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| 53 |
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"frame_duration": [2006, 2964],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
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| 60 |
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"skill_description": ["place in"],
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| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
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| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 63 |
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"memory_prefix": [],
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| 64 |
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"spatial_prefix": [],
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| 65 |
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"frame_duration": [2964, 3539],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
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| 70 |
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"skill_idx": 5,
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| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
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| 73 |
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"object_id": [["can_of_soda_115"]],
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| 74 |
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"manipulating_object_id": [],
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| 75 |
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"memory_prefix": ["the other"],
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| 76 |
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"spatial_prefix": [],
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| 77 |
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"frame_duration": [3539, 4023],
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| 78 |
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"mp_ef": [],
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| 79 |
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"skill_type": ["navigation"]
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| 80 |
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},
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| 81 |
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{
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| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
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| 84 |
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"skill_description": ["pick up from"],
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| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
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| 87 |
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"memory_prefix": ["the other"],
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| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4023, 4406],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
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| 93 |
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{
|
| 94 |
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"skill_idx": 7,
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| 95 |
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"skill_id": [4],
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| 96 |
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"skill_description": ["place in"],
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| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
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| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
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| 99 |
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"memory_prefix": [],
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| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [4406, 4719],
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| 102 |
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"mp_ef": [],
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| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
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| 107 |
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"skill_id": [1],
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| 108 |
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"skill_description": ["move to"],
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| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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"manipulating_object_id": [],
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| 111 |
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"memory_prefix": ["the other"],
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| 112 |
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"spatial_prefix": [],
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| 113 |
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"frame_duration": [4719, 5394],
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| 114 |
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"mp_ef": [],
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| 115 |
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"skill_type": ["navigation"]
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| 116 |
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},
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| 117 |
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{
|
| 118 |
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"skill_idx": 9,
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| 119 |
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"skill_id": [2],
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| 120 |
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"skill_description": ["pick up from"],
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| 121 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_113"],
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| 123 |
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"memory_prefix": ["the other"],
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| 124 |
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"spatial_prefix": [],
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| 125 |
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"frame_duration": [5394, 6433],
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| 126 |
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"mp_ef": [],
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| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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"memory_prefix": [],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [6433, 6796],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [6796, 7844],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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"memory_prefix": [],
|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [50, 1008],
|
| 164 |
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"skill_idxes": [0, 1]
|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1008, 3539],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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"memory_prefix": ["the other", ""],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [3539, 4719],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
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"frame_duration": [4719, 6796],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
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},
|
| 199 |
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{
|
| 200 |
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"primitive_idx": 4,
|
| 201 |
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"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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"memory_prefix": [],
|
| 206 |
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"spatial_prefix": [],
|
| 207 |
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"frame_duration": [6796, 7844],
|
| 208 |
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"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010460.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6003,
|
| 6 |
+
"valid_duration": [72, 6075]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [72, 450],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [453, 1317],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1318, 1785],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2049, 2162],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2163, 2462],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
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|
| 77 |
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"frame_duration": [2463, 2995],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2995, 4025],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4026, 4260],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4263, 4894],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4894, 5607],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5607, 5919],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5919, 6075],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [72, 1317],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1318, 2462],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2463, 4260],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4263, 5919],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5919, 6075],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010530.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
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|
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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 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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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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|
| 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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|
| 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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|
| 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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| 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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| 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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|
| 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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|
| 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 |
+
"primitive_idx": 4,
|
| 201 |
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"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 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 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010550.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6172,
|
| 6 |
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"valid_duration": [0, 6172]
|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 375],
|
| 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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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [401, 1115],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1116, 1710],
|
| 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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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1719, 2755],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 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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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 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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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 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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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 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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"frame_duration": [3757, 4026],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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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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|
| 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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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5409, 5715],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5716, 6172],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 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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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1116, 2979],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2979, 4026],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4026, 5715],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5716, 6172],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011170.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 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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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1142, 1811],
|
| 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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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1811, 2650],
|
| 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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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2650, 3632],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3632, 3980],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3980, 4309],
|
| 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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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4309, 4961],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [4961, 5140],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [5140, 5399],
|
| 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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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [6585, 7012],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [187, 1811],
|
| 164 |
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|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1811, 3980],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
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|
| 184 |
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"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3980, 5140],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [5140, 6585],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6585, 7012],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011810.json
ADDED
|
@@ -0,0 +1,211 @@
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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": "picking up trash",
|
| 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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|
| 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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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 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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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 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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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [789, 1032],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 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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"frame_duration": [1032, 1110],
|
| 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": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_114"]],
|
| 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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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [1179, 1380],
|
| 90 |
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|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [1380, 1440],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 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_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_115"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [1440, 1785],
|
| 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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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 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_type": ["uncoordinated"]
|
| 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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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [1980, 2070],
|
| 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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"primitive_annotation": [
|
| 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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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 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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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
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"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [1110, 1440],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [1440, 2070],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [2070, 2220],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00012030.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4067,
|
| 6 |
+
"valid_duration": [96, 4163]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [96, 697],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [697, 1309],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1309, 1770],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1770, 2165],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2165, 2327],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_113"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2328, 2518],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2518, 3063],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3064, 3226],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3226, 3550],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3550, 3792],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [3792, 3962],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [3962, 4163],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [96, 1309],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1309, 2327],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2328, 3226],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3226, 3962],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [3962, 4163],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00012100.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5825,
|
| 6 |
+
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|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
+
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|
| 15 |
+
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|
| 16 |
+
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|
| 17 |
+
"frame_duration": [180, 883],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
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|
| 20 |
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},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [883, 1449],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 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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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 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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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2756, 3005],
|
| 66 |
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"mp_ef": [],
|
| 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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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 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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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 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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"skill_description": ["place in"],
|
| 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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"frame_duration": [4691, 4828],
|
| 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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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 109 |
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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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|
| 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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"frame_duration": [4931, 5298],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5298, 5518],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5519, 6005],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 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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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1449, 3005],
|
| 175 |
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|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
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|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [3023, 4828],
|
| 186 |
+
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|
| 187 |
+
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|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4828, 5518],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5519, 6005],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00012150.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4110,
|
| 6 |
+
"valid_duration": [125, 4235]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
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|
| 15 |
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|
| 16 |
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|
| 17 |
+
"frame_duration": [125, 824],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
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"frame_duration": [824, 1605],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1605, 2027],
|
| 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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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2027, 2534],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 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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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 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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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 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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"skill_description": ["place in"],
|
| 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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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 109 |
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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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|
| 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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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [3817, 3982],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [3982, 4235],
|
| 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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"primitive_annotation": [
|
| 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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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [1605, 2701],
|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 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 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [3453, 3982],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [3982, 4235],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00012360.json
ADDED
|
@@ -0,0 +1,211 @@
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|
|
|
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|
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|
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|
|
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|
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|
|
|
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|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3845,
|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [1857, 2089],
|
| 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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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [2089, 2761],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
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|
| 41 |
+
"frame_duration": [2779, 3033],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3041, 3578],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3578, 3742],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3856, 4350],
|
| 78 |
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"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [4368, 4646],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
+
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|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [4646, 4825],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [4872, 5040],
|
| 114 |
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"mp_ef": [],
|
| 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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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [5040, 5311],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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"memory_prefix": [],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [5311, 5487],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [5520, 5702],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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"memory_prefix": [],
|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [1857, 2761],
|
| 164 |
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"skill_idxes": [0, 1]
|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [2779, 3742],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3856, 4825],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4872, 5487],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5520, 5702],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00012370.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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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": "picking up trash",
|
| 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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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [72, 324],
|
| 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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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [324, 891],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [907, 1647],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1754, 2216],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2217, 2380],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2381, 2622],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2622, 3065],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [3065, 3203],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [3204, 3384],
|
| 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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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [3385, 3823],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [3823, 3947],
|
| 138 |
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|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [3947, 4557],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [72, 891],
|
| 164 |
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|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [907, 2380],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2381, 3203],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3204, 3947],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [3947, 4557],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00012820.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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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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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 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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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 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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"skill_idx": 3,
|
| 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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"frame_duration": [1162, 1428],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 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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"skill_description": ["place in"],
|
| 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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"frame_duration": [1428, 1588],
|
| 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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|
| 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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"skill_id": [2],
|
| 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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"frame_duration": [2067, 2527],
|
| 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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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [2527, 2764],
|
| 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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|
| 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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|
| 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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{
|
| 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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"primitive_annotation": [
|
| 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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|
| 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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|
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