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- annotations/task-0500/episode_00000010.json +208 -0
- annotations/task-0500/episode_00000040.json +208 -0
- annotations/task-0500/episode_00000110.json +208 -0
- annotations/task-0500/episode_00000120.json +208 -0
- annotations/task-0500/episode_00000190.json +208 -0
- annotations/task-0500/episode_00000230.json +208 -0
- annotations/task-0500/episode_00000240.json +208 -0
- annotations/task-0500/episode_00000290.json +208 -0
- annotations/task-0500/episode_00000300.json +208 -0
- annotations/task-0500/episode_00000310.json +208 -0
- annotations/task-0500/episode_00000320.json +208 -0
- annotations/task-0500/episode_00000330.json +208 -0
- annotations/task-0500/episode_00000340.json +208 -0
- annotations/task-0500/episode_00000390.json +208 -0
- annotations/task-0500/episode_00000400.json +208 -0
- annotations/task-0500/episode_00000410.json +208 -0
- annotations/task-0500/episode_00000440.json +208 -0
- annotations/task-0500/episode_00000460.json +208 -0
- annotations/task-0500/episode_00000470.json +208 -0
- annotations/task-0500/episode_00000510.json +208 -0
- annotations/task-0500/episode_00000520.json +208 -0
- annotations/task-0500/episode_00000530.json +208 -0
- annotations/task-0500/episode_00000540.json +208 -0
- annotations/task-0500/episode_00000550.json +208 -0
- annotations/task-0500/episode_00000590.json +208 -0
- annotations/task-0500/episode_00000610.json +208 -0
- annotations/task-0500/episode_00000690.json +208 -0
- annotations/task-0500/episode_00000700.json +208 -0
- annotations/task-0500/episode_00000720.json +208 -0
- annotations/task-0500/episode_00000740.json +208 -0
- annotations/task-0500/episode_00000750.json +208 -0
- annotations/task-0500/episode_00000800.json +208 -0
- annotations/task-0500/episode_00000810.json +208 -0
- annotations/task-0500/episode_00000820.json +208 -0
- annotations/task-0500/episode_00000830.json +208 -0
- annotations/task-0500/episode_00000850.json +208 -0
- annotations/task-0500/episode_00000880.json +208 -0
- annotations/task-0500/episode_00000910.json +208 -0
- annotations/task-0500/episode_00000920.json +208 -0
- annotations/task-0500/episode_00000930.json +208 -0
- annotations/task-0500/episode_00000970.json +208 -0
- annotations/task-0500/episode_00000980.json +208 -0
- annotations/task-0500/episode_00000990.json +208 -0
- annotations/task-0500/episode_00001030.json +208 -0
- annotations/task-0500/episode_00001100.json +208 -0
- annotations/task-0500/episode_00001120.json +208 -0
- annotations/task-0500/episode_00001140.json +208 -0
- annotations/task-0500/episode_00001160.json +208 -0
- annotations/task-0500/episode_00001170.json +208 -0
- annotations/task-0500/episode_00001210.json +208 -0
annotations/task-0500/episode_00000010.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
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| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
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| 5 |
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"task_duration": 1187,
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| 6 |
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"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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1187
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| 9 |
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]
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| 10 |
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},
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| 11 |
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|
| 12 |
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{
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| 13 |
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| 14 |
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| 15 |
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1
|
| 16 |
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],
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| 17 |
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| 18 |
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|
| 19 |
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],
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| 20 |
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| 21 |
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[
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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],
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| 32 |
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"mp_ef": [],
|
| 33 |
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"skill_type": [
|
| 34 |
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"navigation"
|
| 35 |
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]
|
| 36 |
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},
|
| 37 |
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{
|
| 38 |
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"skill_idx": 1,
|
| 39 |
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"skill_id": [
|
| 40 |
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2
|
| 41 |
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],
|
| 42 |
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"skill_description": [
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| 43 |
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"pick up from"
|
| 44 |
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],
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| 45 |
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"object_id": [
|
| 46 |
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[
|
| 47 |
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"radio_89",
|
| 48 |
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"coffee_table_koagbh_0"
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| 49 |
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]
|
| 50 |
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],
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| 51 |
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"manipulating_object_id": [
|
| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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159,
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| 58 |
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739
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| 59 |
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],
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| 60 |
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"mp_ef": [],
|
| 61 |
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"skill_type": [
|
| 62 |
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"uncoordinated"
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| 63 |
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| 64 |
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},
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| 65 |
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{
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| 66 |
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"skill_idx": 2,
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| 67 |
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"skill_id": [
|
| 68 |
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67
|
| 69 |
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],
|
| 70 |
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"skill_description": [
|
| 71 |
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"press"
|
| 72 |
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| 73 |
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"object_id": [
|
| 74 |
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[
|
| 75 |
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"radio_89"
|
| 76 |
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|
| 77 |
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| 78 |
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"manipulating_object_id": [
|
| 79 |
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"radio_89"
|
| 80 |
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| 81 |
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"memory_prefix": [],
|
| 82 |
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| 83 |
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| 84 |
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739,
|
| 85 |
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941
|
| 86 |
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| 87 |
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"mp_ef": [],
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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},
|
| 92 |
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{
|
| 93 |
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| 94 |
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| 95 |
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|
| 96 |
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| 97 |
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| 98 |
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|
| 99 |
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| 100 |
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"object_id": [
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| 101 |
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[
|
| 102 |
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"radio_89",
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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}
|
| 122 |
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],
|
| 123 |
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"primitive_annotation": [
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| 124 |
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{
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| 125 |
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| 126 |
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| 127 |
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2
|
| 128 |
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| 129 |
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"primitive_description": [
|
| 130 |
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"pick up from"
|
| 131 |
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| 132 |
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"object_id": [
|
| 133 |
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[
|
| 134 |
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"radio_89",
|
| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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| 141 |
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| 142 |
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| 143 |
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"frame_duration": [
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| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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{
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| 153 |
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"primitive_idx": 1,
|
| 154 |
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"primitive_id": [
|
| 155 |
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|
| 156 |
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|
| 157 |
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"primitive_description": [
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| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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[
|
| 162 |
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"radio_89"
|
| 163 |
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|
| 164 |
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|
| 165 |
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"manipulating_object_id": [
|
| 166 |
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"radio_89"
|
| 167 |
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],
|
| 168 |
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"memory_prefix": [],
|
| 169 |
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"spatial_prefix": [],
|
| 170 |
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"frame_duration": [
|
| 171 |
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739,
|
| 172 |
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|
| 173 |
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],
|
| 174 |
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"skill_idxes": [
|
| 175 |
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|
| 176 |
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]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 2,
|
| 180 |
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"primitive_id": [
|
| 181 |
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3
|
| 182 |
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],
|
| 183 |
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"primitive_description": [
|
| 184 |
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"place on"
|
| 185 |
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],
|
| 186 |
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"object_id": [
|
| 187 |
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[
|
| 188 |
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"radio_89",
|
| 189 |
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"coffee_table_koagbh_0"
|
| 190 |
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]
|
| 191 |
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],
|
| 192 |
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"manipulating_object_id": [
|
| 193 |
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"radio_89"
|
| 194 |
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],
|
| 195 |
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"memory_prefix": [
|
| 196 |
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"back"
|
| 197 |
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|
| 198 |
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"spatial_prefix": [],
|
| 199 |
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"frame_duration": [
|
| 200 |
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|
| 201 |
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|
| 202 |
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],
|
| 203 |
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"skill_idxes": [
|
| 204 |
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|
| 205 |
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]
|
| 206 |
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}
|
| 207 |
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]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000040.json
ADDED
|
@@ -0,0 +1,208 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
| 12 |
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|
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|
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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| 22 |
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|
| 185 |
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| 188 |
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| 190 |
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| 192 |
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|
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| 195 |
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|
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|
| 206 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000110.json
ADDED
|
@@ -0,0 +1,208 @@
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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|
| 18 |
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|
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|
| 33 |
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|
| 34 |
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| 147 |
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"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 |
+
973,
|
| 172 |
+
1276
|
| 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 |
+
1277,
|
| 201 |
+
1469
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000120.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1783,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1783
|
| 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 |
+
380
|
| 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 |
+
498,
|
| 58 |
+
1325
|
| 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 |
+
1326,
|
| 85 |
+
1650
|
| 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 |
+
1650,
|
| 115 |
+
1782
|
| 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 |
+
1325
|
| 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 |
+
1326,
|
| 172 |
+
1650
|
| 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 |
+
1650,
|
| 201 |
+
1782
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000190.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
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|
| 1 |
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|
| 2 |
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|
| 3 |
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| 4 |
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|
| 19 |
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|
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000230.json
ADDED
|
@@ -0,0 +1,208 @@
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|
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| 1 |
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{
|
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|
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|
| 4 |
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|
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|
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]
|
| 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 |
+
850,
|
| 172 |
+
1053
|
| 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 |
+
1053,
|
| 201 |
+
1257
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000240.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1251,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1251
|
| 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 |
+
242
|
| 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 |
+
243,
|
| 58 |
+
681
|
| 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 |
+
682,
|
| 85 |
+
1013
|
| 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 |
+
1013,
|
| 115 |
+
1250
|
| 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 |
+
681
|
| 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 |
+
682,
|
| 172 |
+
1013
|
| 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 |
+
1013,
|
| 201 |
+
1250
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000290.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
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|
| 1 |
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|
| 2 |
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|
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| 4 |
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|
| 19 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000300.json
ADDED
|
@@ -0,0 +1,208 @@
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{
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| 154 |
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"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 |
+
739,
|
| 172 |
+
962
|
| 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 |
+
963,
|
| 201 |
+
1139
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000310.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1647,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1647
|
| 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 |
+
473
|
| 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 |
+
474,
|
| 58 |
+
1077
|
| 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 |
+
1336
|
| 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 |
+
1337,
|
| 115 |
+
1646
|
| 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 |
+
1077
|
| 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 |
+
1336
|
| 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 |
+
1337,
|
| 201 |
+
1646
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000320.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
| 1 |
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| 2 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000330.json
ADDED
|
@@ -0,0 +1,208 @@
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{
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| 157 |
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"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 |
+
829,
|
| 172 |
+
1029
|
| 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 |
+
1029,
|
| 201 |
+
1307
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000340.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 |
+
223
|
| 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 |
+
223,
|
| 58 |
+
662
|
| 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 |
+
662,
|
| 85 |
+
849
|
| 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 |
+
849,
|
| 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 |
+
662
|
| 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 |
+
662,
|
| 172 |
+
849
|
| 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 |
+
849,
|
| 201 |
+
1087
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000390.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
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|
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|
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|
| 1 |
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|
| 2 |
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|
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000400.json
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
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{
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|
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|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
968,
|
| 172 |
+
1138
|
| 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 |
+
1138,
|
| 201 |
+
1418
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000410.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1260,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1260
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 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 |
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],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
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"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
488
|
| 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 |
+
489,
|
| 58 |
+
938
|
| 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 |
+
938,
|
| 85 |
+
1071
|
| 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 |
+
1259
|
| 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 |
+
938
|
| 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 |
+
938,
|
| 172 |
+
1071
|
| 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 |
+
1259
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000440.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000460.json
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
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{
|
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|
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| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
+
"radio_89"
|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1080,
|
| 172 |
+
1330
|
| 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 |
+
1330,
|
| 201 |
+
1618
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000470.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1591,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1591
|
| 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 |
+
598
|
| 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 |
+
599,
|
| 58 |
+
1143
|
| 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 |
+
1143,
|
| 85 |
+
1341
|
| 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 |
+
1341,
|
| 115 |
+
1590
|
| 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 |
+
1143
|
| 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 |
+
1143,
|
| 172 |
+
1341
|
| 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 |
+
1341,
|
| 201 |
+
1590
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000510.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000520.json
ADDED
|
@@ -0,0 +1,208 @@
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{
|
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|
| 167 |
+
],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
1141,
|
| 172 |
+
1363
|
| 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 |
+
1363,
|
| 201 |
+
1646
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000530.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1186,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1186
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 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 |
+
309
|
| 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 |
+
309,
|
| 58 |
+
825
|
| 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 |
+
838,
|
| 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 |
+
1185
|
| 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 |
+
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|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
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|
| 144 |
+
0,
|
| 145 |
+
825
|
| 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 |
+
838,
|
| 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 |
+
1185
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000540.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1384,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
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| 188 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000550.json
ADDED
|
@@ -0,0 +1,208 @@
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{
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|
| 170 |
+
"frame_duration": [
|
| 171 |
+
942,
|
| 172 |
+
1130
|
| 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 |
+
1131,
|
| 201 |
+
1350
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000590.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1226,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1226
|
| 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 |
+
44,
|
| 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 |
+
270,
|
| 58 |
+
756
|
| 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 |
+
756,
|
| 85 |
+
944
|
| 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 |
+
945,
|
| 115 |
+
1225
|
| 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 |
+
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|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
44,
|
| 145 |
+
756
|
| 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 |
+
756,
|
| 172 |
+
944
|
| 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 |
+
945,
|
| 201 |
+
1225
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000610.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
|
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|
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|
|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1775,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1775
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
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|
| 19 |
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|
| 21 |
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| 22 |
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|
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|
| 182 |
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| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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|
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|
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|
| 206 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000690.json
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
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{
|
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|
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|
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|
| 33 |
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| 34 |
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| 40 |
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|
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| 173 |
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],
|
| 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 |
+
908,
|
| 201 |
+
1322
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000700.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1530,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1530
|
| 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 |
+
269
|
| 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 |
+
500,
|
| 58 |
+
742
|
| 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 |
+
743,
|
| 85 |
+
1047
|
| 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 |
+
1052,
|
| 115 |
+
1529
|
| 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 |
+
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|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
+
0,
|
| 145 |
+
742
|
| 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 |
+
743,
|
| 172 |
+
1047
|
| 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 |
+
1052,
|
| 201 |
+
1529
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000720.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1407,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1407
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
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|
| 19 |
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| 22 |
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|
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|
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|
| 185 |
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|
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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|
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|
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|
| 206 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000740.json
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
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{
|
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|
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| 33 |
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|
| 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 |
+
1074,
|
| 201 |
+
1561
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000750.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1565,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1565
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 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 |
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]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"memory_prefix": [],
|
| 27 |
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"spatial_prefix": [],
|
| 28 |
+
"frame_duration": [
|
| 29 |
+
0,
|
| 30 |
+
376
|
| 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 |
+
978
|
| 59 |
+
],
|
| 60 |
+
"mp_ef": [],
|
| 61 |
+
"skill_type": [
|
| 62 |
+
"uncoordinated"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"skill_idx": 2,
|
| 67 |
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"skill_id": [
|
| 68 |
+
67
|
| 69 |
+
],
|
| 70 |
+
"skill_description": [
|
| 71 |
+
"press"
|
| 72 |
+
],
|
| 73 |
+
"object_id": [
|
| 74 |
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[
|
| 75 |
+
"radio_89"
|
| 76 |
+
]
|
| 77 |
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],
|
| 78 |
+
"manipulating_object_id": [
|
| 79 |
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"radio_89"
|
| 80 |
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],
|
| 81 |
+
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|
| 82 |
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"spatial_prefix": [],
|
| 83 |
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"frame_duration": [
|
| 84 |
+
979,
|
| 85 |
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1252
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"coordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
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{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
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"skill_id": [
|
| 95 |
+
3
|
| 96 |
+
],
|
| 97 |
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"skill_description": [
|
| 98 |
+
"place on"
|
| 99 |
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],
|
| 100 |
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"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"radio_89",
|
| 103 |
+
"coffee_table_koagbh_0"
|
| 104 |
+
]
|
| 105 |
+
],
|
| 106 |
+
"manipulating_object_id": [
|
| 107 |
+
"radio_89"
|
| 108 |
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],
|
| 109 |
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"memory_prefix": [
|
| 110 |
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"back"
|
| 111 |
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],
|
| 112 |
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|
| 113 |
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"frame_duration": [
|
| 114 |
+
1253,
|
| 115 |
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1564
|
| 116 |
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],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"primitive_annotation": [
|
| 124 |
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{
|
| 125 |
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"primitive_idx": 0,
|
| 126 |
+
"primitive_id": [
|
| 127 |
+
2
|
| 128 |
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],
|
| 129 |
+
"primitive_description": [
|
| 130 |
+
"pick up from"
|
| 131 |
+
],
|
| 132 |
+
"object_id": [
|
| 133 |
+
[
|
| 134 |
+
"radio_89",
|
| 135 |
+
"coffee_table_koagbh_0"
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
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|
| 139 |
+
"radio_89"
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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0,
|
| 145 |
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|
| 146 |
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],
|
| 147 |
+
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|
| 148 |
+
0,
|
| 149 |
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|
| 150 |
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]
|
| 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 |
+
979,
|
| 172 |
+
1252
|
| 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 |
+
1253,
|
| 201 |
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1564
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000800.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1327,
|
| 6 |
+
"valid_duration": [
|
| 7 |
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0,
|
| 8 |
+
1327
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
+
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 34 |
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|
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|
| 37 |
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|
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|
| 39 |
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|
| 40 |
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|
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| 43 |
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|
| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 49 |
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| 50 |
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| 98 |
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| 100 |
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[
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| 102 |
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[
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| 163 |
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|
| 164 |
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|
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|
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|
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| 178 |
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|
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|
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| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
+
}
|
annotations/task-0500/episode_00000810.json
ADDED
|
@@ -0,0 +1,208 @@
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|
| 1 |
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{
|
| 2 |
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|
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|
| 4 |
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|
| 5 |
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|
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|
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|
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| 18 |
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|
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|
| 33 |
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| 34 |
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|
| 37 |
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| 40 |
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| 45 |
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| 47 |
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| 50 |
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|
| 61 |
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| 65 |
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| 180 |
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"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 |
+
1520,
|
| 201 |
+
1744
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000820.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1401,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1401
|
| 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 |
+
420
|
| 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 |
+
441,
|
| 58 |
+
937
|
| 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 |
+
937,
|
| 85 |
+
1054
|
| 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 |
+
1054,
|
| 115 |
+
1400
|
| 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 |
+
937
|
| 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 |
+
937,
|
| 172 |
+
1054
|
| 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 |
+
1054,
|
| 201 |
+
1400
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000830.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1295,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1295
|
| 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 |
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|
| 22 |
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| 24 |
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| 192 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000850.json
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
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{
|
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|
| 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 |
+
1354,
|
| 201 |
+
1690
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000880.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 |
+
428
|
| 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 |
+
785,
|
| 58 |
+
1090
|
| 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 |
+
1096,
|
| 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 |
+
1287,
|
| 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 |
+
1090
|
| 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 |
+
1096,
|
| 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 |
+
1287,
|
| 201 |
+
1541
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000910.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1646,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1646
|
| 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 |
+
],
|
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| 26 |
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| 34 |
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|
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|
| 185 |
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|
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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|
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|
| 198 |
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| 199 |
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|
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|
| 206 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000920.json
ADDED
|
@@ -0,0 +1,208 @@
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|
| 1 |
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{
|
| 2 |
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|
| 4 |
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|
| 33 |
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|
| 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 |
+
1036,
|
| 201 |
+
1289
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000930.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2055,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
2055
|
| 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 |
+
1395
|
| 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 |
+
1396,
|
| 85 |
+
1592
|
| 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 |
+
1593,
|
| 115 |
+
2054
|
| 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 |
+
1395
|
| 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 |
+
1396,
|
| 172 |
+
1592
|
| 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 |
+
1593,
|
| 201 |
+
2054
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000970.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1471,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1471
|
| 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 |
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| 34 |
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|
| 185 |
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| 188 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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|
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|
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|
| 206 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00000980.json
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
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{
|
| 2 |
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| 4 |
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| 33 |
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| 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 |
+
1274,
|
| 201 |
+
1558
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00000990.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1149,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1149
|
| 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 |
+
398
|
| 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 |
+
399,
|
| 58 |
+
769
|
| 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 |
+
944
|
| 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 |
+
944,
|
| 115 |
+
1148
|
| 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 |
+
769
|
| 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 |
+
944
|
| 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 |
+
944,
|
| 201 |
+
1148
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00001030.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1813,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1813
|
| 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 |
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0,
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| 30 |
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| 34 |
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| 37 |
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| 192 |
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| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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|
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|
| 206 |
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|
| 207 |
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|
| 208 |
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}
|
annotations/task-0500/episode_00001100.json
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
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{
|
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| 192 |
+
"manipulating_object_id": [
|
| 193 |
+
"radio_89"
|
| 194 |
+
],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
1015,
|
| 201 |
+
1282
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00001120.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2199,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
2199
|
| 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 |
+
138,
|
| 30 |
+
749
|
| 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 |
+
807,
|
| 58 |
+
1456
|
| 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 |
+
1457,
|
| 85 |
+
1774
|
| 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 |
+
1775,
|
| 115 |
+
2198
|
| 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 |
+
138,
|
| 145 |
+
1456
|
| 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 |
+
1457,
|
| 172 |
+
1774
|
| 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 |
+
1775,
|
| 201 |
+
2198
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00001140.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2199,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
2199
|
| 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 |
+
356
|
| 31 |
+
],
|
| 32 |
+
"mp_ef": [],
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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[
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 54 |
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| 55 |
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| 56 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 65 |
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| 66 |
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| 88 |
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| 95 |
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| 98 |
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| 100 |
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| 101 |
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[
|
| 102 |
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| 103 |
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| 104 |
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|
| 105 |
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| 107 |
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|
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|
| 130 |
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|
| 131 |
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| 132 |
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| 133 |
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[
|
| 134 |
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| 135 |
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| 139 |
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|
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|
| 158 |
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|
| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
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| 166 |
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|
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|
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|
| 173 |
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|
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|
| 175 |
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|
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|
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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[
|
| 188 |
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"radio_89",
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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]
|
| 208 |
+
}
|
annotations/task-0500/episode_00001160.json
ADDED
|
@@ -0,0 +1,208 @@
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|
| 1 |
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{
|
| 2 |
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|
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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|
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| 18 |
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|
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| 20 |
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| 22 |
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|
| 33 |
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|
| 34 |
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|
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| 36 |
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|
| 37 |
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| 38 |
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| 40 |
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|
| 41 |
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|
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| 43 |
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|
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| 45 |
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| 46 |
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| 47 |
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| 50 |
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|
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|
| 60 |
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|
| 61 |
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| 65 |
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| 66 |
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| 71 |
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| 75 |
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| 118 |
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|
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| 188 |
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],
|
| 195 |
+
"memory_prefix": [
|
| 196 |
+
"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
+
834,
|
| 201 |
+
1041
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00001170.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "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 |
+
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 |
+
258,
|
| 58 |
+
807
|
| 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 |
+
808,
|
| 85 |
+
1214
|
| 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 |
+
1214,
|
| 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 |
+
807
|
| 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 |
+
808,
|
| 172 |
+
1214
|
| 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 |
+
1214,
|
| 201 |
+
1568
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
+
3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|
annotations/task-0500/episode_00001210.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1303,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
1303
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 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 |
+
186
|
| 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 |
+
186,
|
| 58 |
+
830
|
| 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 |
+
830,
|
| 85 |
+
1019
|
| 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 |
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"memory_prefix": [
|
| 110 |
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"back"
|
| 111 |
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],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [
|
| 114 |
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1020,
|
| 115 |
+
1302
|
| 116 |
+
],
|
| 117 |
+
"mp_ef": [],
|
| 118 |
+
"skill_type": [
|
| 119 |
+
"uncoordinated"
|
| 120 |
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]
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
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"primitive_annotation": [
|
| 124 |
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{
|
| 125 |
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"primitive_idx": 0,
|
| 126 |
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"primitive_id": [
|
| 127 |
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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 |
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"radio_89"
|
| 140 |
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],
|
| 141 |
+
"memory_prefix": [],
|
| 142 |
+
"spatial_prefix": [],
|
| 143 |
+
"frame_duration": [
|
| 144 |
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0,
|
| 145 |
+
830
|
| 146 |
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],
|
| 147 |
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|
| 148 |
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0,
|
| 149 |
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1
|
| 150 |
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]
|
| 151 |
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},
|
| 152 |
+
{
|
| 153 |
+
"primitive_idx": 1,
|
| 154 |
+
"primitive_id": [
|
| 155 |
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67
|
| 156 |
+
],
|
| 157 |
+
"primitive_description": [
|
| 158 |
+
"press"
|
| 159 |
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],
|
| 160 |
+
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|
| 161 |
+
[
|
| 162 |
+
"radio_89"
|
| 163 |
+
]
|
| 164 |
+
],
|
| 165 |
+
"manipulating_object_id": [
|
| 166 |
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"radio_89"
|
| 167 |
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],
|
| 168 |
+
"memory_prefix": [],
|
| 169 |
+
"spatial_prefix": [],
|
| 170 |
+
"frame_duration": [
|
| 171 |
+
830,
|
| 172 |
+
1019
|
| 173 |
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],
|
| 174 |
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"skill_idxes": [
|
| 175 |
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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 |
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"back"
|
| 197 |
+
],
|
| 198 |
+
"spatial_prefix": [],
|
| 199 |
+
"frame_duration": [
|
| 200 |
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1020,
|
| 201 |
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1302
|
| 202 |
+
],
|
| 203 |
+
"skill_idxes": [
|
| 204 |
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3
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
]
|
| 208 |
+
}
|