Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- annotations/task-0700/episode_00000020.json +208 -0
- annotations/task-0700/episode_00000050.json +208 -0
- annotations/task-0700/episode_00000070.json +208 -0
- annotations/task-0700/episode_00000080.json +208 -0
- annotations/task-0700/episode_00000130.json +208 -0
- annotations/task-0700/episode_00000140.json +208 -0
- annotations/task-0700/episode_00000160.json +208 -0
- annotations/task-0700/episode_00000170.json +208 -0
- annotations/task-0700/episode_00000180.json +208 -0
- annotations/task-0700/episode_00000200.json +208 -0
- annotations/task-0700/episode_00000210.json +208 -0
- annotations/task-0700/episode_00000220.json +208 -0
- annotations/task-0700/episode_00000250.json +208 -0
- annotations/task-0700/episode_00000260.json +208 -0
- annotations/task-0700/episode_00000270.json +208 -0
- annotations/task-0700/episode_00000280.json +208 -0
- annotations/task-0700/episode_00000350.json +208 -0
- annotations/task-0700/episode_00000360.json +208 -0
- annotations/task-0700/episode_00000370.json +208 -0
- annotations/task-0700/episode_00000380.json +208 -0
- annotations/task-0700/episode_00000420.json +208 -0
- annotations/task-0700/episode_00000430.json +208 -0
- annotations/task-0700/episode_00000450.json +208 -0
- annotations/task-0700/episode_00000480.json +208 -0
- annotations/task-0700/episode_00000490.json +208 -0
- annotations/task-0700/episode_00000500.json +208 -0
- annotations/task-0700/episode_00000570.json +208 -0
- annotations/task-0700/episode_00000580.json +208 -0
- annotations/task-0700/episode_00000600.json +208 -0
- annotations/task-0700/episode_00000620.json +208 -0
- annotations/task-0700/episode_00000630.json +208 -0
- annotations/task-0700/episode_00000640.json +208 -0
- annotations/task-0700/episode_00000650.json +208 -0
- annotations/task-0700/episode_00000660.json +208 -0
- annotations/task-0700/episode_00000670.json +208 -0
- annotations/task-0700/episode_00000680.json +208 -0
- annotations/task-0700/episode_00000730.json +208 -0
- annotations/task-0700/episode_00000760.json +208 -0
- annotations/task-0700/episode_00000770.json +208 -0
- annotations/task-0700/episode_00000780.json +208 -0
- annotations/task-0700/episode_00000790.json +208 -0
- annotations/task-0700/episode_00000840.json +208 -0
- annotations/task-0700/episode_00000870.json +208 -0
- annotations/task-0700/episode_00000940.json +208 -0
- annotations/task-0700/episode_00000950.json +208 -0
- annotations/task-0700/episode_00000960.json +208 -0
- annotations/task-0700/episode_00001040.json +208 -0
- annotations/task-0700/episode_00001070.json +208 -0
- annotations/task-0700/episode_00001080.json +208 -0
- annotations/task-0700/episode_00001110.json +208 -0
annotations/task-0700/episode_00000020.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1272,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1272
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
215
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
216,
|
| 58 |
+
741
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
742,
|
| 85 |
+
955
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
968,
|
| 115 |
+
1271
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
741
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
742,
|
| 172 |
+
955
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
968,
|
| 201 |
+
1271
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000050.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 972,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
972
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
207
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
207,
|
| 58 |
+
625
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
625,
|
| 85 |
+
747
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
748,
|
| 115 |
+
971
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
625
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
625,
|
| 172 |
+
747
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
748,
|
| 201 |
+
971
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000070.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1414,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1414
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
183
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
184,
|
| 58 |
+
891
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
891,
|
| 85 |
+
1032
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1032,
|
| 115 |
+
1413
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
891
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
891,
|
| 172 |
+
1032
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1032,
|
| 201 |
+
1413
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000080.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1478,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1478
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
191
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
484,
|
| 58 |
+
886
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
886,
|
| 85 |
+
1151
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1152,
|
| 115 |
+
1477
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
886
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
886,
|
| 172 |
+
1151
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1152,
|
| 201 |
+
1477
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000130.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1361,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1361
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
312
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
519,
|
| 58 |
+
817
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
888,
|
| 85 |
+
1114
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1114,
|
| 115 |
+
1360
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
817
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
888,
|
| 172 |
+
1114
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1114,
|
| 201 |
+
1360
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000140.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1269,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1269
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
4,
|
| 30 |
+
591
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
592,
|
| 58 |
+
958
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
959,
|
| 85 |
+
1119
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1120,
|
| 115 |
+
1268
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
4,
|
| 145 |
+
958
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
959,
|
| 172 |
+
1119
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1120,
|
| 201 |
+
1268
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000160.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1613,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1613
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
402
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
402,
|
| 58 |
+
1189
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1189,
|
| 85 |
+
1461
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1462,
|
| 115 |
+
1612
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
1189
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1189,
|
| 172 |
+
1461
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1462,
|
| 201 |
+
1612
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000170.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1487,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1487
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
243
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
261,
|
| 58 |
+
915
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
915,
|
| 85 |
+
1209
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1209,
|
| 115 |
+
1486
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
915
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
915,
|
| 172 |
+
1209
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1209,
|
| 201 |
+
1486
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000180.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1195,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1195
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
299
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
324,
|
| 58 |
+
817
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
818,
|
| 85 |
+
1046
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1047,
|
| 115 |
+
1194
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
817
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
818,
|
| 172 |
+
1046
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1047,
|
| 201 |
+
1194
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000200.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1503,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1503
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
303
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
304,
|
| 58 |
+
1183
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1184,
|
| 85 |
+
1392
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1392,
|
| 115 |
+
1502
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
1183
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1184,
|
| 172 |
+
1392
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1392,
|
| 201 |
+
1502
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000210.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1144,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1144
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
391
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
391,
|
| 58 |
+
783
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
784,
|
| 85 |
+
930
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
931,
|
| 115 |
+
1143
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
783
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
784,
|
| 172 |
+
930
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
931,
|
| 201 |
+
1143
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000220.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1490,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1490
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
15,
|
| 30 |
+
467
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
468,
|
| 58 |
+
1021
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1022,
|
| 85 |
+
1269
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1270,
|
| 115 |
+
1489
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
15,
|
| 145 |
+
1021
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1022,
|
| 172 |
+
1269
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1270,
|
| 201 |
+
1489
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000250.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1534,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1534
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
485
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
485,
|
| 58 |
+
1094
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1103,
|
| 85 |
+
1334
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1334,
|
| 115 |
+
1533
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
1094
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1103,
|
| 172 |
+
1334
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1334,
|
| 201 |
+
1533
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000260.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1348,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1348
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
476
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
480,
|
| 58 |
+
897
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
898,
|
| 85 |
+
1151
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1152,
|
| 115 |
+
1347
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
897
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
898,
|
| 172 |
+
1151
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1152,
|
| 201 |
+
1347
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000270.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1150,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1150
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
300
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
300,
|
| 58 |
+
725
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
725,
|
| 85 |
+
897
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
897,
|
| 115 |
+
1149
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
725
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
725,
|
| 172 |
+
897
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
897,
|
| 201 |
+
1149
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000280.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1374,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1374
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
407
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
407,
|
| 58 |
+
863
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
863,
|
| 85 |
+
1108
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1108,
|
| 115 |
+
1373
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
863
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
863,
|
| 172 |
+
1108
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1108,
|
| 201 |
+
1373
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000350.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1158,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1158
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
9,
|
| 30 |
+
201
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
344,
|
| 58 |
+
700
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
701,
|
| 85 |
+
938
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
938,
|
| 115 |
+
1157
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
9,
|
| 145 |
+
700
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
701,
|
| 172 |
+
938
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
938,
|
| 201 |
+
1157
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000360.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1569,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1569
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
399
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
424,
|
| 58 |
+
990
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
990,
|
| 85 |
+
1262
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1263,
|
| 115 |
+
1568
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
990
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
990,
|
| 172 |
+
1262
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1263,
|
| 201 |
+
1568
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000370.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1017,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1017
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
153
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
171,
|
| 58 |
+
534
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
534,
|
| 85 |
+
712
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
712,
|
| 115 |
+
1016
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
534
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
534,
|
| 172 |
+
712
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
712,
|
| 201 |
+
1016
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000380.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1101,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1101
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
247
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
248,
|
| 58 |
+
622
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
622,
|
| 85 |
+
826
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
827,
|
| 115 |
+
1100
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
622
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
622,
|
| 172 |
+
826
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
827,
|
| 201 |
+
1100
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000420.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1367,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1367
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
371
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
372,
|
| 58 |
+
914
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
915,
|
| 85 |
+
1145
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1146,
|
| 115 |
+
1366
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
914
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
915,
|
| 172 |
+
1145
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1146,
|
| 201 |
+
1366
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000430.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1342,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1342
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
359
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
360,
|
| 58 |
+
916
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
916,
|
| 85 |
+
1070
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1071,
|
| 115 |
+
1341
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
916
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
916,
|
| 172 |
+
1070
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1071,
|
| 201 |
+
1341
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000450.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 991,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
991
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
18,
|
| 30 |
+
227
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
228,
|
| 58 |
+
627
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
628,
|
| 85 |
+
798
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
798,
|
| 115 |
+
990
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
18,
|
| 145 |
+
627
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
628,
|
| 172 |
+
798
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
798,
|
| 201 |
+
990
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000480.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1304,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1304
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
448
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
448,
|
| 58 |
+
911
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
911,
|
| 85 |
+
1082
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1083,
|
| 115 |
+
1303
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
911
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
911,
|
| 172 |
+
1082
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1083,
|
| 201 |
+
1303
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000490.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1616,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1616
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
609
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
635,
|
| 58 |
+
1121
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1121,
|
| 85 |
+
1356
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1357,
|
| 115 |
+
1615
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
1121
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1121,
|
| 172 |
+
1356
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1357,
|
| 201 |
+
1615
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000500.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1222,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1222
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
259
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
260,
|
| 58 |
+
735
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
735,
|
| 85 |
+
941
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
942,
|
| 115 |
+
1221
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
735
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
735,
|
| 172 |
+
941
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
942,
|
| 201 |
+
1221
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000570.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1514,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1514
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
24,
|
| 30 |
+
311
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
338,
|
| 58 |
+
1000
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1001,
|
| 85 |
+
1219
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1219,
|
| 115 |
+
1513
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
24,
|
| 145 |
+
1000
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1001,
|
| 172 |
+
1219
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1219,
|
| 201 |
+
1513
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000580.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1600,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1600
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
493
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
493,
|
| 58 |
+
985
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
986,
|
| 85 |
+
1257
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1258,
|
| 115 |
+
1599
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
985
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
986,
|
| 172 |
+
1257
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1258,
|
| 201 |
+
1599
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000600.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1088,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1088
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
381
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
381,
|
| 58 |
+
757
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
757,
|
| 85 |
+
874
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
875,
|
| 115 |
+
1087
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
757
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
757,
|
| 172 |
+
874
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
875,
|
| 201 |
+
1087
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000620.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1363,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1363
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
21,
|
| 30 |
+
339
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
339,
|
| 58 |
+
914
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
914,
|
| 85 |
+
1049
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1050,
|
| 115 |
+
1362
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
21,
|
| 145 |
+
914
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
914,
|
| 172 |
+
1049
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1050,
|
| 201 |
+
1362
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000630.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1268,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1268
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
375
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
376,
|
| 58 |
+
923
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
923,
|
| 85 |
+
1074
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1075,
|
| 115 |
+
1267
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
923
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
923,
|
| 172 |
+
1074
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1075,
|
| 201 |
+
1267
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000640.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1195,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1195
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
147
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
148,
|
| 58 |
+
640
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
640,
|
| 85 |
+
785
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
786,
|
| 115 |
+
1194
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
640
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
640,
|
| 172 |
+
785
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
786,
|
| 201 |
+
1194
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000650.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1480,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1480
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
371
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
372,
|
| 58 |
+
822
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
822,
|
| 85 |
+
1021
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1022,
|
| 115 |
+
1479
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
822
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
822,
|
| 172 |
+
1021
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1022,
|
| 201 |
+
1479
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000660.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1268,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1268
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
331
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
332,
|
| 58 |
+
685
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
686,
|
| 85 |
+
841
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
841,
|
| 115 |
+
1267
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
685
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
686,
|
| 172 |
+
841
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
841,
|
| 201 |
+
1267
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000670.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1209,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1209
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
201
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
202,
|
| 58 |
+
753
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
753,
|
| 85 |
+
906
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
907,
|
| 115 |
+
1208
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
753
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
753,
|
| 172 |
+
906
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
907,
|
| 201 |
+
1208
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000680.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1313,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1313
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
330
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
488,
|
| 58 |
+
855
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
855,
|
| 85 |
+
1050
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1051,
|
| 115 |
+
1312
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
855
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
855,
|
| 172 |
+
1050
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1051,
|
| 201 |
+
1312
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000730.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1252,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1252
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
69
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
69,
|
| 58 |
+
712
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
712,
|
| 85 |
+
899
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
899,
|
| 115 |
+
1251
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
712
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
712,
|
| 172 |
+
899
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
899,
|
| 201 |
+
1251
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000760.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1692,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1692
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
18,
|
| 30 |
+
275
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
275,
|
| 58 |
+
1078
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1078,
|
| 85 |
+
1286
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1286,
|
| 115 |
+
1691
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
18,
|
| 145 |
+
1078
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1078,
|
| 172 |
+
1286
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1286,
|
| 201 |
+
1691
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000770.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1445,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1445
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
333
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
333,
|
| 58 |
+
787
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
788,
|
| 85 |
+
1057
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1058,
|
| 115 |
+
1444
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
787
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
788,
|
| 172 |
+
1057
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1058,
|
| 201 |
+
1444
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000780.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1323,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1323
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
252
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
252,
|
| 58 |
+
768
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
769,
|
| 85 |
+
976
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
976,
|
| 115 |
+
1322
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
768
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
769,
|
| 172 |
+
976
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
976,
|
| 201 |
+
1322
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000790.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1599,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1599
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
481
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
481,
|
| 58 |
+
906
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
907,
|
| 85 |
+
1155
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1156,
|
| 115 |
+
1598
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
906
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
907,
|
| 172 |
+
1155
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1156,
|
| 201 |
+
1598
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000840.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1301,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1301
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
234
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
235,
|
| 58 |
+
782
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
788,
|
| 85 |
+
994
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
995,
|
| 115 |
+
1300
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
782
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
788,
|
| 172 |
+
994
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
995,
|
| 201 |
+
1300
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000870.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1689,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1689
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
183
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
184,
|
| 58 |
+
887
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
892,
|
| 85 |
+
1233
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1234,
|
| 115 |
+
1688
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
887
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
892,
|
| 172 |
+
1233
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1234,
|
| 201 |
+
1688
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000940.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1542,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1542
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
531
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
876,
|
| 58 |
+
1164
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1164,
|
| 85 |
+
1298
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1298,
|
| 115 |
+
1541
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
1164
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1164,
|
| 172 |
+
1298
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1298,
|
| 201 |
+
1541
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000950.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1223,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1223
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
225
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
225,
|
| 58 |
+
827
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
827,
|
| 85 |
+
978
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
979,
|
| 115 |
+
1222
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
827
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
827,
|
| 172 |
+
978
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
979,
|
| 201 |
+
1222
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00000960.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1473,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1473
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
158
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
158,
|
| 58 |
+
803
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
803,
|
| 85 |
+
1042
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1042,
|
| 115 |
+
1472
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
803
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
803,
|
| 172 |
+
1042
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1042,
|
| 201 |
+
1472
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00001040.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2564,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
2564
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"coffee_table_koagbh_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
511
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
687,
|
| 58 |
+
1219
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1220,
|
| 85 |
+
1877
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1878,
|
| 115 |
+
2563
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
1219
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1220,
|
| 172 |
+
1877
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1878,
|
| 201 |
+
2563
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00001070.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1544,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1544
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
401
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
401,
|
| 58 |
+
856
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
856,
|
| 85 |
+
1167
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1167,
|
| 115 |
+
1543
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
856
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
856,
|
| 172 |
+
1167
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1167,
|
| 201 |
+
1543
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00001080.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2081,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
2081
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
525
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
525,
|
| 58 |
+
1413
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1413,
|
| 85 |
+
1575
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
1576,
|
| 115 |
+
2080
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
1413
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1413,
|
| 172 |
+
1575
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1576,
|
| 201 |
+
2080
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0700/episode_00001110.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1214,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1214
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"radio_89"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
+
"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
178
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
+
"skill_type": [
|
| 34 |
+
"navigation"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"skill_idx": 1,
|
| 39 |
+
"skill_id": [
|
| 40 |
+
2
|
| 41 |
+
],
|
| 42 |
+
"skill_description": [
|
| 43 |
+
"pick up from"
|
| 44 |
+
],
|
| 45 |
+
"object_id": [
|
| 46 |
+
[
|
| 47 |
+
"radio_89",
|
| 48 |
+
"coffee_table_koagbh_0"
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
"manipulating_object_id": [
|
| 52 |
+
"radio_89"
|
| 53 |
+
],
|
| 54 |
+
"memory_prefix": [],
|
| 55 |
+
"spatial_prefix": [],
|
| 56 |
+
"frame_duration": [
|
| 57 |
+
179,
|
| 58 |
+
856
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
+
"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
+
[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
+
"radio_89"
|
| 80 |
+
],
|
| 81 |
+
"memory_prefix": [],
|
| 82 |
+
"spatial_prefix": [],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
856,
|
| 85 |
+
978
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
+
],
|
| 109 |
+
"memory_prefix": [
|
| 110 |
+
"back"
|
| 111 |
+
],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
+
978,
|
| 115 |
+
1213
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
+
{
|
| 125 |
+
"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
+
],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"manipulating_object_id": [
|
| 139 |
+
"radio_89"
|
| 140 |
+
],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
856
|
| 146 |
+
],
|
| 147 |
+
"skill_idxes": [
|
| 148 |
+
0,
|
| 149 |
+
1
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
+
67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
+
],
|
| 160 |
+
"object_id": [
|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
856,
|
| 172 |
+
978
|
| 173 |
+
],
|
| 174 |
+
"skill_idxes": [
|
| 175 |
+
2
|
| 176 |
+
]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 2,
|
| 180 |
+
"primitive_id": [
|
| 181 |
+
3
|
| 182 |
+
],
|
| 183 |
+
"primitive_description": [
|
| 184 |
+
"place on"
|
| 185 |
+
],
|
| 186 |
+
"object_id": [
|
| 187 |
+
[
|
| 188 |
+
"radio_89",
|
| 189 |
+
"coffee_table_koagbh_0"
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
978,
|
| 201 |
+
1213
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|