Add files using upload-large-folder tool

test/000047/meta.json

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+{
+  "episode_id": 47,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/8WUmhLawc2A/8WUmhLawc2A.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn left and go to the doorway.  Then turn right and head out the door.  Turn right and go into the bedroom.  When you get to the bathroom door, go through that doorway. You'll go into the bathroom and stop by the sink, there will be a step stool and you should wait right in front of it. \", instruction_tokens=[2494, 1360, 119, 1067, 2438, 2389, 766, 15, 2394, 2494, 1968, 119, 1162, 1658, 2389, 757, 15, 2494, 1968, 119, 1067, 1264, 2389, 273, 15, 2632, 2703, 1046, 2438, 2389, 242, 757, 1067, 2418, 2388, 766, 15, 2703, 9, 1406, 1067, 1264, 2389, 242, 119, 2278, 404, 2389, 2132, 2395, 2648, 252, 73, 2260, 2275, 119, 2703, 2109, 2579, 1968, 1237, 1019, 1605, 1272, 15])",
+  "instruction_text": "Turn left and go to the doorway.  Then turn right and head out the door.  Turn right and go into the bedroom.  When you get to the bathroom door, go through that doorway. You'll go into the bathroom and stop by the sink, there will be a step stool and you should wait right in front of it. ",
+  "num_steps": 63,
+  "total_unique_objects": 191,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 62,
+      "question": "Recall your earlier path. When you passed by the chest_of_drawers in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        19
+      ],
+      "metadata": {
+        "probe_object_id": 19,
+        "probe_category": "chest_of_drawers",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          -7.3654398918151855,
+          0.3453660011291504,
+          4.409949779510498
+        ],
+        "agent_position_when_seen": [
+          -6.804830074310303,
+          0.10065700113773346,
+          3.362260103225708
+        ],
+        "pixel_centroid_x": 54.577625570776256,
+        "normalized_position_x": -0.5736123002283104,
+        "object_pixel_count": 438,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 63
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 62,
+      "question": "Along your path, did you see the objects before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        3,
+        38
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 38,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 38,
+        "asked_second_object_id": 3
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 32,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) living room (C) dining room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "living room",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "living room",
+          "dining room"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 12,
+      "question": "From your current viewpoint, is the picture to the left or right of the chest_of_drawers?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        81,
+        576
+      ],
+      "metadata": {
+        "object_A_id": 81,
+        "object_A_category": "chest_of_drawers",
+        "object_A_position": [
+          -2.1083500385284424,
+          1.350179672241211,
+          5.95820951461792
+        ],
+        "object_B_id": 576,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -3.9008901119232178,
+          1.8446500301361084,
+          -2.167020082473755
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -6.20237922668457,
+          0.10065700113773346,
+          2.0734357833862305
+        ],
+        "agent_rotation": [
+          0.904323935508728,
+          0.0,
+          -0.4268467426300049,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 7,
+      "question": "You are currently in the bedroom, and you can see the bathroom, hallway. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) office (B) dining room (C) living room",
+      "answer": "C",
+      "options": [
+        "office",
+        "dining room",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_16",
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "office",
+          "dining room",
+          "living room"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 27,
+      "question": "From your current position, will you pass through the tv on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 27,
+        "current_room": "hallway",
+        "landmark_room": "tv",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 62,
+    "question": "Along your path, did you see the bed before or after the objects?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      3,
+      38
+    ],
+    "metadata": {
+      "object_A_id": 3,
+      "object_A_category": "bed",
+      "object_A_timestep": 0,
+      "object_B_id": 38,
+      "object_B_category": "objects",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 3,
+      "asked_second_object_id": 38
+    }
+  }
+}

test/000091/meta.json

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+{
+  "episode_id": 91,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb",
+  "instruction": "InstructionData(instruction_text='Walk passed the sink area and into the closet. Walk into room with couches and a glass wall. Walk out of the room and onto the outside deck area. Stop near the outdoor tub. ', instruction_tokens=[2584, 1725, 2389, 2132, 150, 119, 1264, 2389, 521, 15, 2584, 1264, 1994, 2661, 595, 119, 73, 1057, 2593, 15, 2584, 1658, 1605, 2389, 1994, 119, 1620, 2389, 1665, 676, 150, 15, 2278, 1563, 2389, 1659, 2488, 15])",
+  "instruction_text": "Walk passed the sink area and into the closet. Walk into room with couches and a glass wall. Walk out of the room and onto the outside deck area. Stop near the outdoor tub. ",
+  "num_steps": 61,
+  "total_unique_objects": 167,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the chest_of_drawers in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        323
+      ],
+      "metadata": {
+        "probe_object_id": 323,
+        "probe_category": "chest_of_drawers",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_17",
+        "first_seen_timestep": 31,
+        "best_view_timestep": 34,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          3.3788700103759766,
+          3.599029541015625,
+          6.1740593910217285
+        ],
+        "agent_position_when_seen": [
+          1.2695343494415283,
+          6.68632698059082,
+          -2.9224774837493896
+        ],
+        "pixel_centroid_x": 87.82291666666667,
+        "normalized_position_x": -0.31388346354166663,
+        "object_pixel_count": 288,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the  before or after the counter?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        24,
+        20
+      ],
+      "metadata": {
+        "object_A_id": 24,
+        "object_A_category": "counter",
+        "object_A_timestep": 0,
+        "object_B_id": 20,
+        "object_B_category": "",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 20,
+        "asked_second_object_id": 24
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 48,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) kitchen (C) bedroom",
+      "answer": "C",
+      "options": [
+        "hallway",
+        "kitchen",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "hallway",
+          "kitchen",
+          "bedroom"
+        ],
+        "query_timestep_internal": 48,
+        "rooms_visited": [
+          "balcony",
+          "bathroom",
+          "bedroom",
+          "closet"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 24,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the bathtub?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        334,
+        331
+      ],
+      "metadata": {
+        "object_A_id": 334,
+        "object_A_category": "bathtub",
+        "object_A_position": [
+          3.876310110092163,
+          3.7051596641540527,
+          9.882270812988281
+        ],
+        "object_B_id": 331,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          3.4091999530792236,
+          3.8999900817871094,
+          8.466139793395996
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -0.17659394443035126,
+          6.68632698059082,
+          -2.5755198001861572
+        ],
+        "agent_rotation": [
+          -0.9781321883201599,
+          0.0,
+          0.2079843282699585,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 51,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) entryway/foyer/lobby (B) dining room (C) hallway",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "dining room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_17",
+        "adjacent_rooms": [
+          "1_18",
+          "1_19"
+        ],
+        "correct_answer_room": "1_19",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "dining room",
+          "hallway"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 23,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 23,
+        "current_room": "bathroom",
+        "landmark_room": "closet",
+        "final_room": "balcony",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom",
+          "balcony"
+        ],
+        "all_rooms_in_trajectory": [
+          "balcony",
+          "bathroom",
+          "bedroom",
+          "closet"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "closet"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 60,
+    "question": "Recall your earlier path. When you passed by the chest_of_drawers in the bedroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      323
+    ],
+    "metadata": {
+      "probe_object_id": 323,
+      "probe_category": "chest_of_drawers",
+      "probe_room": "bedroom",
+      "probe_region_id": "1_17",
+      "first_seen_timestep": 31,
+      "best_view_timestep": 34,
+      "num_sightings": 6,
+      "spatial_relation": "left",
+      "object_position": [
+        3.3788700103759766,
+        3.599029541015625,
+        6.1740593910217285
+      ],
+      "agent_position_when_seen": [
+        1.2695343494415283,
+        6.68632698059082,
+        -2.9224774837493896
+      ],
+      "pixel_centroid_x": 87.82291666666667,
+      "normalized_position_x": -0.31388346354166663,
+      "object_pixel_count": 288,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 61
+    }
+  }
+}

test/000118/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 118,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Go to the right of the counter, turn right and go past the table and chairs.  Turn right and walk past the couch.  Turn left and go out the door.  Stop right when you get outside.  Wait. ', instruction_tokens=[1067, 2438, 2389, 1968, 1605, 2389, 598, 2494, 1968, 119, 1067, 1728, 2389, 2342, 119, 458, 15, 2494, 1968, 119, 2584, 1728, 2389, 593, 15, 2494, 1360, 119, 1067, 1658, 2389, 757, 15, 2278, 1968, 2632, 2703, 1046, 1665, 15, 2579, 15])",
+  "instruction_text": "Go to the right of the counter, turn right and go past the table and chairs.  Turn right and walk past the couch.  Turn left and go out the door.  Stop right when you get outside.  Wait. ",
+  "num_steps": 67,
+  "total_unique_objects": 624,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 66,
+      "question": "Recall your earlier path. When you passed by the picture in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        275
+      ],
+      "metadata": {
+        "probe_object_id": 275,
+        "probe_category": "picture",
+        "probe_room": "hallway",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 6,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -11.760000228881836,
+          1.4301600456237793,
+          6.072999954223633
+        ],
+        "agent_position_when_seen": [
+          -2.5925543308258057,
+          0.13922199606895447,
+          5.609376430511475
+        ],
+        "pixel_centroid_x": 29.65137614678899,
+        "normalized_position_x": -0.768348623853211,
+        "object_pixel_count": 109,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 67
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 66,
+      "question": "Along your path, did you see the shelving before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        175
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 175,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 175
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 31,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) dining room (C) workout/gym/exercise",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "dining room",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "bedroom",
+          "dining room",
+          "workout/gym/exercise"
+        ],
+        "query_timestep_internal": 31,
+        "rooms_visited": [
+          "dining room",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 31,
+      "question": "From your current viewpoint, is the fireplace to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        435,
+        447
+      ],
+      "metadata": {
+        "object_A_id": 435,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          3.712399959564209,
+          1.2914799451828003,
+          -0.7115470170974731
+        ],
+        "object_B_id": 447,
+        "object_B_category": "fireplace",
+        "object_B_position": [
+          6.4227294921875,
+          0.7530179619789124,
+          0.746290922164917
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          0.6348018646240234,
+          -0.02083396166563034,
+          4.33276891708374
+        ],
+        "agent_rotation": [
+          -0.7941981554031372,
+          0.0,
+          0.6076589226722717,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 20,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) office (B) familyroom/lounge (C) living room",
+      "answer": "C",
+      "options": [
+        "office",
+        "familyroom/lounge",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_10",
+          "0_12",
+          "0_24"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "office",
+          "familyroom/lounge",
+          "living room"
+        ],
+        "context_rooms": "bedroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "question": "From your current position, will you pass through the lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 6,
+        "current_room": "kitchen",
+        "landmark_room": "lounge",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "kitchen",
+          "dining room",
+          "living room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 64,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) closet (C) workout/gym/exercise",
+    "answer": "A",
+    "options": [
+      "living room",
+      "closet",
+      "workout/gym/exercise"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "living room",
+      "all_options": [
+        "living room",
+        "closet",
+        "workout/gym/exercise"
+      ],
+      "query_timestep_internal": 64,
+      "rooms_visited": [
+        "dining room",
+        "kitchen",
+        "living room"
+      ]
+    }
+  }
+}

test/000225/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 225,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='Turn left and go down the hall.  Go past the foot of the bed and veer left.  Go out of the door way and onto the terrace.  Stop when you finally get there and wait. ', instruction_tokens=[2494, 1360, 119, 1067, 780, 2389, 1121, 15, 1067, 1728, 2389, 980, 1605, 2389, 267, 119, 2552, 1360, 15, 1067, 1658, 1605, 2389, 757, 2616, 119, 1620, 2389, 2382, 15, 2278, 2632, 2703, 936, 1046, 2395, 119, 2579, 15])",
+  "instruction_text": "Turn left and go down the hall.  Go past the foot of the bed and veer left.  Go out of the door way and onto the terrace.  Stop when you finally get there and wait. ",
+  "num_steps": 49,
+  "total_unique_objects": 113,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the sink in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        215
+      ],
+      "metadata": {
+        "probe_object_id": 215,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_11",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          14.560999870300293,
+          0.8540647029876709,
+          2.0982797145843506
+        ],
+        "agent_position_when_seen": [
+          14.141400337219238,
+          0.1496591567993164,
+          -2.643120050430298
+        ],
+        "pixel_centroid_x": 225.1489286968739,
+        "normalized_position_x": 0.7589760054443273,
+        "object_pixel_count": 2847,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 49
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 48,
+      "question": "Along your path, did you see the chair before or after the sink?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        82,
+        380
+      ],
+      "metadata": {
+        "object_A_id": 82,
+        "object_A_category": "sink",
+        "object_A_timestep": 0,
+        "object_B_id": 380,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 380,
+        "asked_second_object_id": 82
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) porch/terrace/deck (C) hallway",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "porch/terrace/deck",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "dining room",
+          "porch/terrace/deck",
+          "hallway"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "balcony",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 26,
+      "question": "From your current viewpoint, is the chair to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        196,
+        180
+      ],
+      "metadata": {
+        "object_A_id": 196,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          19.33639907836914,
+          1.6025696992874146,
+          2.686079502105713
+        ],
+        "object_B_id": 180,
+        "object_B_category": "chair",
+        "object_B_position": [
+          20.286300659179688,
+          0.5714080333709717,
+          2.375119924545288
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          17.8592472076416,
+          0.1496591567993164,
+          -2.603200674057007
+        ],
+        "agent_rotation": [
+          0.5474315881729126,
+          0.0,
+          -0.8368505239486694,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) dining room (B) familyroom/lounge (C) outdoor",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "familyroom/lounge",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_23",
+        "adjacent_rooms": [
+          "2_20",
+          "2_24"
+        ],
+        "correct_answer_room": "2_20",
+        "all_options": [
+          "dining room",
+          "familyroom/lounge",
+          "outdoor"
+        ],
+        "context_rooms": "balcony"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 16,
+        "current_room": "hallway",
+        "landmark_room": "dining room",
+        "final_room": "balcony",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "balcony"
+        ],
+        "all_rooms_in_trajectory": [
+          "balcony",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 5,
+    "question": "From your current viewpoint, is the picture to the left or right of the bed?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      188,
+      200
+    ],
+    "metadata": {
+      "object_A_id": 188,
+      "object_A_category": "bed",
+      "object_A_position": [
+        18.524700164794922,
+        0.31158798933029175,
+        -0.10344099998474121
+      ],
+      "object_B_id": 200,
+      "object_B_category": "picture",
+      "object_B_position": [
+        17.870500564575195,
+        1.4825799465179443,
+        2.54984974861145
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        14.388577461242676,
+        0.1496591567993164,
+        -2.6056582927703857
+      ],
+      "agent_rotation": [
+        0.6519789695739746,
+        0.0,
+        -0.7582370042800903,
+        0.0
+      ]
+    }
+  }
+}

test/000252/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 252,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/8WUmhLawc2A/8WUmhLawc2A.glb",
+  "instruction": "InstructionData(instruction_text='Exit the living room. Turn right. Walk into the bedroom and wait by the table. ', instruction_tokens=[888, 2389, 1404, 1994, 15, 2494, 1968, 15, 2584, 1264, 2389, 273, 119, 2579, 404, 2389, 2342, 15])",
+  "instruction_text": "Exit the living room. Turn right. Walk into the bedroom and wait by the table. ",
+  "num_steps": 65,
+  "total_unique_objects": 137,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 64,
+      "question": "Recall your earlier path. When you passed by the picture in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        308
+      ],
+      "metadata": {
+        "probe_object_id": 308,
+        "probe_category": "picture",
+        "probe_room": "living room",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 24,
+        "num_sightings": 19,
+        "spatial_relation": "right",
+        "object_position": [
+          -6.568950176239014,
+          1.5936698913574219,
+          0.8840610980987549
+        ],
+        "agent_position_when_seen": [
+          -7.609346866607666,
+          0.10065700113773346,
+          -3.9232101440429688
+        ],
+        "pixel_centroid_x": 212.80090497737555,
+        "normalized_position_x": 0.6625070701357465,
+        "object_pixel_count": 221,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 65
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 64,
+      "question": "Along your path, did you see the bed before or after the tv_monitor?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        75,
+        89
+      ],
+      "metadata": {
+        "object_A_id": 75,
+        "object_A_category": "bed",
+        "object_A_timestep": 4,
+        "object_B_id": 89,
+        "object_B_category": "tv_monitor",
+        "object_B_timestep": 13,
+        "time_gap": 9,
+        "asked_first_object_id": 75,
+        "asked_second_object_id": 89
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 62,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) hallway (C) office",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "hallway",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bedroom",
+          "hallway",
+          "office"
+        ],
+        "query_timestep_internal": 62,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 37,
+      "question": "From your current viewpoint, is the objects to the left or right of the ?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        217,
+        28
+      ],
+      "metadata": {
+        "object_A_id": 217,
+        "object_A_category": "",
+        "object_A_position": [
+          -7.473390579223633,
+          1.4338200092315674,
+          -3.8418798446655273
+        ],
+        "object_B_id": 28,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -5.847549915313721,
+          0.531362771987915,
+          2.677719831466675
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -5.785630226135254,
+          0.10065700113773346,
+          -2.6455111503601074
+        ],
+        "agent_rotation": [
+          -0.3505782186985016,
+          0.0,
+          0.9365334510803223,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 7,
+      "question": "You are currently in the dining room, and you can see the kitchen, hallway. Based on your understanding of the environment layout, which other area is the dining room directly connected to? (A) office (B) closet (C) laundryroom/mudroom",
+      "answer": "C",
+      "options": [
+        "office",
+        "closet",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_12",
+          "0_15",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_8",
+        "all_options": [
+          "office",
+          "closet",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "kitchen, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 22,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 22,
+        "current_room": "kitchen",
+        "landmark_room": "living room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "kitchen",
+          "living room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "dining room",
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 64,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bathroom (C) closet",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "bathroom",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "bathroom",
+        "closet"
+      ],
+      "query_timestep_internal": 64,
+      "rooms_visited": [
+        "dining room",
+        "hallway",
+        "kitchen",
+        "living room"
+      ]
+    }
+  }
+}

test/000259/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 259,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='Turn around walk down the hallway past the open house doors and turn the corner to the left. Walk through the door at the end of the hall and into the bedroom with two large beds. Walk through the room and into the bathroom stopping near the sink. ', instruction_tokens=[2494, 159, 2584, 780, 2389, 1126, 1728, 2389, 1625, 1213, 762, 119, 2494, 2389, 589, 2438, 2389, 1360, 15, 2584, 2418, 2389, 757, 178, 2389, 851, 1605, 2389, 1121, 119, 1264, 2389, 273, 2661, 2509, 1336, 275, 15, 2584, 2418, 2389, 1994, 119, 1264, 2389, 242, 2279, 1563, 2389, 2132, 15])",
+  "instruction_text": "Turn around walk down the hallway past the open house doors and turn the corner to the left. Walk through the door at the end of the hall and into the bedroom with two large beds. Walk through the room and into the bathroom stopping near the sink. ",
+  "num_steps": 93,
+  "total_unique_objects": 132,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 92,
+      "question": "Recall your earlier path. When you passed by the towel in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        41
+      ],
+      "metadata": {
+        "probe_object_id": 41,
+        "probe_category": "towel",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 32,
+        "best_view_timestep": 32,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -0.9977560043334961,
+          0.9633426666259766,
+          4.5425496101379395
+        ],
+        "agent_position_when_seen": [
+          1.9568263292312622,
+          0.05631500482559204,
+          -5.341942310333252
+        ],
+        "pixel_centroid_x": 23.465346534653467,
+        "normalized_position_x": -0.8166769801980198,
+        "object_pixel_count": 101,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 93
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 92,
+      "question": "Along your path, did you see the bathtub before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        66,
+        11
+      ],
+      "metadata": {
+        "object_A_id": 66,
+        "object_A_category": "bathtub",
+        "object_A_timestep": 0,
+        "object_B_id": 11,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 66,
+        "asked_second_object_id": 11
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 52,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) living room (C) hallway",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "living room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "porch/terrace/deck",
+          "living room",
+          "hallway"
+        ],
+        "query_timestep_internal": 52,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 41,
+      "question": "From your current viewpoint, is the tv_monitor in front of or behind the cushion?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        19,
+        12
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "cushion",
+        "object_A_position": [
+          -2.5851099491119385,
+          0.8111209869384766,
+          -1.0311399698257446
+        ],
+        "object_B_id": 12,
+        "object_B_category": "tv_monitor",
+        "object_B_position": [
+          -1.5033799409866333,
+          1.6689000129699707,
+          -2.370150089263916
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          1.7296116352081299,
+          0.05631500482559204,
+          -4.915765762329102
+        ],
+        "agent_rotation": [
+          -0.3670220673084259,
+          0.0,
+          -0.9302123188972473,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 47,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) toilet (B) bedroom (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "toilet",
+        "bedroom",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_1",
+          "0_16"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "toilet",
+          "bedroom",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 4,
+      "question": "From your current position, will you pass through the porch/terrace/deck on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 4,
+        "current_room": "kitchen",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "kitchen",
+          "hallway",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 11,
+    "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 11,
+      "current_room": "hallway",
+      "landmark_room": "bedroom",
+      "final_room": "bathroom",
+      "remaining_rooms": [
+        "hallway",
+        "bedroom",
+        "bathroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "bedroom",
+        "hallway",
+        "kitchen"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

test/000345/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 345,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb",
+  "instruction": "InstructionData(instruction_text='Enter main room, turn slight right and walk towards couch. stop at edge of stairs. ', instruction_tokens=[860, 1445, 1994, 2494, 2162, 1968, 119, 2584, 2452, 593, 15, 2278, 178, 825, 1605, 2222, 15])",
+  "instruction_text": "Enter main room, turn slight right and walk towards couch. stop at edge of stairs. ",
+  "num_steps": 39,
+  "total_unique_objects": 302,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 38,
+      "question": "Recall your earlier path. When you passed by the table in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        306
+      ],
+      "metadata": {
+        "probe_object_id": 306,
+        "probe_category": "table",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_17",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 15,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          6.807889938354492,
+          3.697849750518799,
+          4.02802038192749
+        ],
+        "agent_position_when_seen": [
+          -6.728643417358398,
+          0.08632707595825195,
+          -2.8305721282958984
+        ],
+        "pixel_centroid_x": 25.13888888888889,
+        "normalized_position_x": -0.8036024305555556,
+        "object_pixel_count": 144,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 39
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 38,
+      "question": "Along your path, did you see the  before or after the seating?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        20,
+        85
+      ],
+      "metadata": {
+        "object_A_id": 20,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 85,
+        "object_B_category": "seating",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 20,
+        "asked_second_object_id": 85
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 33,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) stairs (C) dining room",
+      "answer": "B",
+      "options": [
+        "living room",
+        "stairs",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "living room",
+          "stairs",
+          "dining room"
+        ],
+        "query_timestep_internal": 33,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 25,
+      "question": "From your current viewpoint, is the curtain to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        80,
+        99
+      ],
+      "metadata": {
+        "object_A_id": 80,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          2.5684800148010254,
+          -0.041975975036621094,
+          2.41133975982666
+        ],
+        "object_B_id": 99,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          4.243319988250732,
+          1.294919729232788,
+          -3.298299789428711
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -5.0111236572265625,
+          0.08632707595825195,
+          -1.8310679197311401
+        ],
+        "agent_rotation": [
+          0.47000351548194885,
+          0.0,
+          -0.8826646208763123,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 2,
+      "question": "Based on your exploration and knowledge of the environment, which area is the closet you see now directly connected to? (A) entryway/foyer/lobby (B) office (C) bathroom",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "office",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_30",
+        "adjacent_rooms": [
+          "2_26",
+          "2_29",
+          "2_32"
+        ],
+        "correct_answer_room": "2_32",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "office",
+          "bathroom"
+        ],
+        "context_rooms": "bedroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 6,
+        "current_room": "hallway",
+        "landmark_room": "dining room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 38,
+    "question": "Recall your earlier path. When you passed by the plant in the dining room, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      111
+    ],
+    "metadata": {
+      "probe_object_id": 111,
+      "probe_category": "plant",
+      "probe_room": "dining room",
+      "probe_region_id": "0_6",
+      "first_seen_timestep": 27,
+      "best_view_timestep": 34,
+      "num_sightings": 8,
+      "spatial_relation": "left",
+      "object_position": [
+        1.6689598560333252,
+        0.4162790775299072,
+        -2.029949903488159
+      ],
+      "agent_position_when_seen": [
+        -3.144273042678833,
+        0.007041864097118378,
+        -0.5751321315765381
+      ],
+      "pixel_centroid_x": 41.82745098039216,
+      "normalized_position_x": -0.6732230392156863,
+      "object_pixel_count": 255,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 39
+    }
+  }
+}

test/000407/meta.json

@@ -0,0 +1,225 @@
+{
+  "episode_id": 407,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/i5noydFURQK/i5noydFURQK.glb",
+  "instruction": "InstructionData(instruction_text='head toward bed, and veer a little to the left.  Walk to the closet and wait there. ', instruction_tokens=[1162, 2451, 267, 119, 2552, 73, 1402, 2438, 2389, 1360, 15, 2584, 2438, 2389, 521, 119, 2579, 2395, 15])",
+  "instruction_text": "head toward bed, and veer a little to the left.  Walk to the closet and wait there. ",
+  "num_steps": 45,
+  "total_unique_objects": 27,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 44,
+      "question": "Recall your earlier path. When you passed by the picture in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        191
+      ],
+      "metadata": {
+        "probe_object_id": 191,
+        "probe_category": "picture",
+        "probe_room": "living room",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          -2.1969099044799805,
+          -1.6226500272750854,
+          0.7086508274078369
+        ],
+        "agent_position_when_seen": [
+          -1.5806900262832642,
+          0.18682312965393066,
+          1.1732900142669678
+        ],
+        "pixel_centroid_x": 149.49760615336317,
+        "normalized_position_x": 0.16795004807314973,
+        "object_pixel_count": 12741,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 45
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 44,
+      "question": "Along your path, did you see the curtain before or after the misc?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        174,
+        311
+      ],
+      "metadata": {
+        "object_A_id": 174,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 311,
+        "object_B_category": "misc",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 174,
+        "asked_second_object_id": 311
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 20,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bedroom (C) dining room",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "bedroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "hallway",
+          "bedroom",
+          "dining room"
+        ],
+        "query_timestep_internal": 20,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 10,
+      "question": "From your current viewpoint, is the sofa to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        187,
+        176
+      ],
+      "metadata": {
+        "object_A_id": 187,
+        "object_A_category": "table",
+        "object_A_position": [
+          -1.811229944229126,
+          -3.108649969100952,
+          2.4962799549102783
+        ],
+        "object_B_id": 176,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          -2.308690071105957,
+          -2.8775298595428467,
+          2.1943297386169434
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -1.613991618156433,
+          0.18682312965393066,
+          2.6615169048309326
+        ],
+        "agent_rotation": [
+          0.07611773908138275,
+          0.0,
+          -0.9970989227294922,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 2,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) bedroom (B) closet (C) hallway",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "closet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_13",
+          "0_8"
+        ],
+        "correct_answer_room": "0_13",
+        "all_options": [
+          "bedroom",
+          "closet",
+          "hallway"
+        ],
+        "context_rooms": "living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "question": "From your current position, will you pass through the office on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 5,
+        "current_room": "bathroom",
+        "landmark_room": "office",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 3,
+    "question": "You are currently in the bathroom, and you can see the bedroom. Based on your understanding of the environment layout, which other area is the bathroom directly connected to? (A) living room (B) office (C) dining room",
+    "answer": "B",
+    "options": [
+      "living room",
+      "office",
+      "dining room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_0",
+      "adjacent_rooms": [
+        "1_1",
+        "1_6"
+      ],
+      "correct_answer_room": "1_6",
+      "all_options": [
+        "living room",
+        "office",
+        "dining room"
+      ],
+      "context_rooms": "bedroom"
+    }
+  }
+}

test/000425/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 425,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='Turn to the left, all around, and go past the blue couch.  Walk to the hallway and turn right.  Go into a room with the leopard painting on the wall.  Stand just inside the doorway and wait. ', instruction_tokens=[2494, 2438, 2389, 1360, 104, 159, 119, 1067, 1728, 2389, 324, 593, 15, 2584, 2438, 2389, 1126, 119, 2494, 1968, 15, 1067, 1264, 73, 1994, 2661, 2389, 1371, 1688, 1613, 2389, 2593, 15, 2235, 1293, 1249, 2389, 766, 119, 2579, 15])",
+  "instruction_text": "Turn to the left, all around, and go past the blue couch.  Walk to the hallway and turn right.  Go into a room with the leopard painting on the wall.  Stand just inside the doorway and wait. ",
+  "num_steps": 62,
+  "total_unique_objects": 80,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "question": "Recall your earlier path. When you passed by the table in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        31
+      ],
+      "metadata": {
+        "probe_object_id": 31,
+        "probe_category": "table",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 5,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          1.9991899728775024,
+          -2.4536502361297607,
+          2.2694599628448486
+        ],
+        "agent_position_when_seen": [
+          0.8209019899368286,
+          -2.650341033935547,
+          -2.193650007247925
+        ],
+        "pixel_centroid_x": 89.55882352941177,
+        "normalized_position_x": -0.30032169117647056,
+        "object_pixel_count": 102,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 62
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 61,
+      "question": "Along your path, did you see the chair before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        31
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 31,
+        "object_B_category": "table",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 31
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 29,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) stairs (C) balcony",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "stairs",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "familyroom/lounge",
+          "stairs",
+          "balcony"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 20,
+      "question": "From your current viewpoint, is the stairs to the left or right of the railing?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        90,
+        103
+      ],
+      "metadata": {
+        "object_A_id": 90,
+        "object_A_category": "railing",
+        "object_A_position": [
+          5.143819808959961,
+          1.3603601455688477,
+          -3.5666699409484863
+        ],
+        "object_B_id": 103,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          5.717649936676025,
+          1.8129301071166992,
+          -4.226200103759766
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          2.2614493370056152,
+          -2.650341033935547,
+          -1.8184834718704224
+        ],
+        "agent_rotation": [
+          0.6782578229904175,
+          0.0,
+          -0.734824001789093,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 18,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) kitchen (B) lounge (C) hallway",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "lounge",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_1",
+          "0_26"
+        ],
+        "correct_answer_room": "0_26",
+        "all_options": [
+          "kitchen",
+          "lounge",
+          "hallway"
+        ],
+        "context_rooms": "familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 19,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 19,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "hallway",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 11,
+    "question": "You are currently in the familyroom/lounge, and you can see the porch/terrace/deck, bathroom. Based on your understanding of the environment layout, which other area is the familyroom/lounge directly connected to? (A) bedroom (B) kitchen (C) hallway",
+    "answer": "C",
+    "options": [
+      "bedroom",
+      "kitchen",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_1",
+      "adjacent_rooms": [
+        "0_0",
+        "0_2",
+        "0_26",
+        "0_3",
+        "0_5"
+      ],
+      "correct_answer_room": "0_26",
+      "all_options": [
+        "bedroom",
+        "kitchen",
+        "hallway"
+      ],
+      "context_rooms": "porch/terrace/deck, bathroom"
+    }
+  }
+}

test/000453/meta.json

@@ -0,0 +1,224 @@
+{
+  "episode_id": 453,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/cV4RVeZvu5T/cV4RVeZvu5T.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and go up the stairs, proceed forward and stop by the bar stools. ', instruction_tokens=[2494, 1968, 119, 1067, 2527, 2389, 2222, 1878, 993, 119, 2278, 404, 2389, 217, 2276, 15])",
+  "instruction_text": "Turn right and go up the stairs, proceed forward and stop by the bar stools. ",
+  "num_steps": 46,
+  "total_unique_objects": 274,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 45,
+      "question": "Recall your earlier path. When you passed by the picture in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        126
+      ],
+      "metadata": {
+        "probe_object_id": 126,
+        "probe_category": "picture",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 31,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -7.048110008239746,
+          1.2402300834655762,
+          7.700479507446289
+        ],
+        "agent_position_when_seen": [
+          2.201803207397461,
+          0.11846804618835449,
+          5.3248291015625
+        ],
+        "pixel_centroid_x": 6.918238993710692,
+        "normalized_position_x": -0.9459512578616353,
+        "object_pixel_count": 159,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 46
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 45,
+      "question": "Along your path, did you see the bed before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        40
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 40,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 40,
+        "asked_second_object_id": 7
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 22,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) familyroom/lounge (C) balcony",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "familyroom/lounge",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "balcony"
+        ],
+        "query_timestep_internal": 22,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 43,
+      "question": "From your current viewpoint, is the chair to the left or right of the counter?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        187,
+        226
+      ],
+      "metadata": {
+        "object_A_id": 187,
+        "object_A_category": "counter",
+        "object_A_position": [
+          3.3453500270843506,
+          0.9137719869613647,
+          0.658440887928009
+        ],
+        "object_B_id": 226,
+        "object_B_category": "chair",
+        "object_B_position": [
+          0.7412710189819336,
+          0.4810478687286377,
+          2.685199737548828
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          2.179300308227539,
+          0.11846804618835449,
+          2.838597297668457
+        ],
+        "agent_rotation": [
+          -0.9940230250358582,
+          0.0,
+          -0.10917098075151443,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 29,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) hallway (B) stairs (C) laundryroom/mudroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "stairs",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_2",
+        "adjacent_rooms": [
+          "1_1",
+          "1_3"
+        ],
+        "correct_answer_room": "1_3",
+        "all_options": [
+          "hallway",
+          "stairs",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "balcony"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 5,
+        "current_room": "stairs",
+        "landmark_room": "bedroom",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "stairs",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 5,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) stairs (C) lounge",
+    "answer": "B",
+    "options": [
+      "kitchen",
+      "stairs",
+      "lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "stairs",
+      "all_options": [
+        "kitchen",
+        "stairs",
+        "lounge"
+      ],
+      "query_timestep_internal": 5,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "stairs"
+      ]
+    }
+  }
+}

test/000471/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 471,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Walk past desks. Walk past green floor vase. Wait at white bookshelf. ', instruction_tokens=[2584, 1728, 693, 15, 2584, 1728, 1098, 959, 2546, 15, 2579, 178, 2637, 339, 15])",
+  "instruction_text": "Walk past desks. Walk past green floor vase. Wait at white bookshelf. ",
+  "num_steps": 61,
+  "total_unique_objects": 236,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the objects in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        284
+      ],
+      "metadata": {
+        "probe_object_id": 284,
+        "probe_category": "objects",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "1_11",
+        "first_seen_timestep": 49,
+        "best_view_timestep": 49,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          5.122369766235352,
+          1.0868099927902222,
+          -1.798629879951477
+        ],
+        "agent_position_when_seen": [
+          10.307965278625488,
+          0.09357202053070068,
+          -0.8723688125610352
+        ],
+        "pixel_centroid_x": 50.547008547008545,
+        "normalized_position_x": -0.6051014957264957,
+        "object_pixel_count": 117,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the objects before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        242,
+        182
+      ],
+      "metadata": {
+        "object_A_id": 242,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 182,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 182,
+        "asked_second_object_id": 242
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 15,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) rec/game (B) hallway (C) lounge",
+      "answer": "C",
+      "options": [
+        "rec/game",
+        "hallway",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "rec/game",
+          "hallway",
+          "lounge"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "lounge",
+          "meetingroom/conferenceroom",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the shelving to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        340,
+        328
+      ],
+      "metadata": {
+        "object_A_id": 340,
+        "object_A_category": "table",
+        "object_A_position": [
+          14.600700378417969,
+          0.45926690101623535,
+          1.9707697629928589
+        ],
+        "object_B_id": 328,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          12.26729965209961,
+          0.755829930305481,
+          2.6402602195739746
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          16.80905532836914,
+          0.09357202053070068,
+          -0.1202692985534668
+        ],
+        "agent_rotation": [
+          0.7142146825790405,
+          0.0,
+          0.6999267935752869,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 27,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) lounge (B) office (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "office",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_15",
+        "adjacent_rooms": [
+          "1_11",
+          "1_7",
+          "1_8",
+          "1_9"
+        ],
+        "correct_answer_room": "1_7",
+        "all_options": [
+          "lounge",
+          "office",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "meetingroom/conferenceroom, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "question": "From your current position, will you pass through the office on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 11,
+        "current_room": "lounge",
+        "landmark_room": "office",
+        "final_room": "meetingroom/conferenceroom",
+        "remaining_rooms": [
+          "lounge",
+          "office",
+          "meetingroom/conferenceroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "lounge",
+          "meetingroom/conferenceroom",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 4,
+    "question": "From your current position, will you pass through the junk on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 4,
+      "current_room": "lounge",
+      "landmark_room": "junk",
+      "final_room": "meetingroom/conferenceroom",
+      "remaining_rooms": [
+        "lounge",
+        "office",
+        "meetingroom/conferenceroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "lounge",
+        "meetingroom/conferenceroom",
+        "office"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "lounge"
+      ]
+    }
+  }
+}

test/000503/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 503,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom, walk through the bedroom, exit the bedroom, turn right, wait at the top of the stairs. ', instruction_tokens=[888, 2389, 242, 2584, 2418, 2389, 273, 888, 2389, 273, 2494, 1968, 2579, 178, 2389, 2444, 1605, 2389, 2222, 15])",
+  "instruction_text": "Exit the bathroom, walk through the bedroom, exit the bedroom, turn right, wait at the top of the stairs. ",
+  "num_steps": 60,
+  "total_unique_objects": 117,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 59,
+      "question": "Recall your earlier path. When you passed by the mirror in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        310
+      ],
+      "metadata": {
+        "probe_object_id": 310,
+        "probe_category": "mirror",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_15",
+        "first_seen_timestep": 30,
+        "best_view_timestep": 32,
+        "num_sightings": 8,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.0329699516296387,
+          1.6835997104644775,
+          0.8972831964492798
+        ],
+        "agent_position_when_seen": [
+          -3.624262571334839,
+          0.15942811965942383,
+          -0.9331688284873962
+        ],
+        "pixel_centroid_x": 198.9549832269235,
+        "normalized_position_x": 0.5543358064603399,
+        "object_pixel_count": 9241,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 60
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 59,
+      "question": "Along your path, did you see the sofa before or after the railing?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        81,
+        433
+      ],
+      "metadata": {
+        "object_A_id": 81,
+        "object_A_category": "sofa",
+        "object_A_timestep": 0,
+        "object_B_id": 433,
+        "object_B_category": "railing",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 81,
+        "asked_second_object_id": 433
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 5,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) laundryroom/mudroom (C) bathroom",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "laundryroom/mudroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "stairs",
+          "laundryroom/mudroom",
+          "bathroom"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 32,
+      "question": "From your current viewpoint, is the curtain in front of or behind the mirror?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        310,
+        304
+      ],
+      "metadata": {
+        "object_A_id": 310,
+        "object_A_category": "mirror",
+        "object_A_position": [
+          -3.0329699516296387,
+          1.6835997104644775,
+          0.8972831964492798
+        ],
+        "object_B_id": 304,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          -3.4603500366210938,
+          1.391279697418213,
+          2.329779624938965
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          -3.624262571334839,
+          0.15942811965942383,
+          -0.9331688284873962
+        ],
+        "agent_rotation": [
+          0.9854140877723694,
+          0.0,
+          -0.17017388343811035,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 35,
+      "question": "You are currently in the hallway, and you can see the bedroom, lounge. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) laundryroom/mudroom (B) bathroom (C) dining room",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "bathroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_17",
+        "adjacent_rooms": [
+          "1_15",
+          "1_16",
+          "1_18",
+          "1_19",
+          "1_20"
+        ],
+        "correct_answer_room": "1_16",
+        "all_options": [
+          "laundryroom/mudroom",
+          "bathroom",
+          "dining room"
+        ],
+        "context_rooms": "bedroom, lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 17,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 17,
+        "current_room": "bedroom",
+        "landmark_room": "bathroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 7,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) kitchen (C) entryway/foyer/lobby",
+    "answer": "A",
+    "options": [
+      "bathroom",
+      "kitchen",
+      "entryway/foyer/lobby"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bathroom",
+      "all_options": [
+        "bathroom",
+        "kitchen",
+        "entryway/foyer/lobby"
+      ],
+      "query_timestep_internal": 7,
+      "rooms_visited": [
+        "bathroom",
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/000589/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 589,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JF19kD82Mey/JF19kD82Mey.glb",
+  "instruction": "InstructionData(instruction_text='Go past the bathroom and down the hallway to exit the room on through the door left. Walk down the hallway and to the stairs. Go down one stair, and stop. ', instruction_tokens=[1067, 1728, 2389, 242, 119, 780, 2389, 1126, 2438, 888, 2389, 1994, 1613, 2418, 2389, 757, 1360, 15, 2584, 780, 2389, 1126, 119, 2438, 2389, 2222, 15, 1067, 780, 1616, 2219, 119, 2278, 15])",
+  "instruction_text": "Go past the bathroom and down the hallway to exit the room on through the door left. Walk down the hallway and to the stairs. Go down one stair, and stop. ",
+  "num_steps": 54,
+  "total_unique_objects": 236,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "question": "Recall your earlier path. When you passed by the toilet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        65
+      ],
+      "metadata": {
+        "probe_object_id": 65,
+        "probe_category": "toilet",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_4",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 20,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          14.366800308227539,
+          3.4596900939941406,
+          1.7353601455688477
+        ],
+        "agent_position_when_seen": [
+          12.915949821472168,
+          3.318902015686035,
+          0.6379210948944092
+        ],
+        "pixel_centroid_x": 218.19665271966528,
+        "normalized_position_x": 0.704661349372385,
+        "object_pixel_count": 239,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 54
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 53,
+      "question": "Along your path, did you see the curtain before or after the cushion?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        81,
+        23
+      ],
+      "metadata": {
+        "object_A_id": 81,
+        "object_A_category": "curtain",
+        "object_A_timestep": 3,
+        "object_B_id": 23,
+        "object_B_category": "cushion",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 81,
+        "asked_second_object_id": 23
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 35,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bedroom (C) other room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bedroom",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "bedroom",
+          "other room"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 19,
+      "question": "From your current viewpoint, is the curtain to the left or right of the furniture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        8,
+        3
+      ],
+      "metadata": {
+        "object_A_id": 8,
+        "object_A_category": "furniture",
+        "object_A_position": [
+          11.010499954223633,
+          4.5669097900390625,
+          3.493269920349121
+        ],
+        "object_B_id": 3,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          9.027830123901367,
+          4.568349838256836,
+          3.810460090637207
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          12.925640106201172,
+          3.318902015686035,
+          0.8877332210540771
+        ],
+        "agent_rotation": [
+          -0.999812126159668,
+          0.0,
+          -0.01938481628894806,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 39,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) entryway/foyer/lobby (B) other room (C) bedroom",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "other room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_13",
+          "0_8"
+        ],
+        "correct_answer_room": "0_8",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "other room",
+          "bedroom"
+        ],
+        "context_rooms": "office, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "hallway",
+        "landmark_room": "stairs",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "bathroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 53,
+    "question": "Recall your earlier path. When you passed by the toilet in the bathroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      65
+    ],
+    "metadata": {
+      "probe_object_id": 65,
+      "probe_category": "toilet",
+      "probe_room": "bathroom",
+      "probe_region_id": "1_4",
+      "first_seen_timestep": 16,
+      "best_view_timestep": 20,
+      "num_sightings": 5,
+      "spatial_relation": "right",
+      "object_position": [
+        14.366800308227539,
+        3.4596900939941406,
+        1.7353601455688477
+      ],
+      "agent_position_when_seen": [
+        12.915949821472168,
+        3.318902015686035,
+        0.6379210948944092
+      ],
+      "pixel_centroid_x": 218.19665271966528,
+      "normalized_position_x": 0.704661349372385,
+      "object_pixel_count": 239,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 54
+    }
+  }
+}

test/000591/meta.json

@@ -0,0 +1,187 @@
+{
+  "episode_id": 591,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb",
+  "instruction": "InstructionData(instruction_text='Exit the glass door and turn left. Walk passing the black bench and stop outside the entrance of the door leading to the living room. ', instruction_tokens=[888, 2389, 1057, 757, 119, 2494, 1360, 15, 2584, 1727, 2389, 314, 290, 119, 2278, 1665, 2389, 867, 1605, 2389, 757, 1349, 2438, 2389, 1404, 1994, 15])",
+  "instruction_text": "Exit the glass door and turn left. Walk passing the black bench and stop outside the entrance of the door leading to the living room. ",
+  "num_steps": 28,
+  "total_unique_objects": 78,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 27,
+      "question": "Recall your earlier path. When you passed by the table in the dining room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        44
+      ],
+      "metadata": {
+        "probe_object_id": 44,
+        "probe_category": "table",
+        "probe_room": "dining room",
+        "probe_region_id": "2_1",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 16,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          6.892910003662109,
+          3.6056299209594727,
+          -1.4721996784210205
+        ],
+        "agent_position_when_seen": [
+          7.2387895584106445,
+          -3.3965749740600586,
+          -2.3878672122955322
+        ],
+        "pixel_centroid_x": 237.04091341579448,
+        "normalized_position_x": 0.8518821360608944,
+        "object_pixel_count": 1051,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 28
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 27,
+      "question": "Along your path, did you see the shelving before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        12
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 12,
+        "object_B_category": "",
+        "object_B_timestep": 16,
+        "time_gap": 16,
+        "asked_first_object_id": 4,
+        "asked_second_object_id": 12
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) stairs (C) other room",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "stairs",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "other room",
+        "all_options": [
+          "bathroom",
+          "stairs",
+          "other room"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "hallway",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 15,
+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) toilet (B) living room (C) dining room",
+      "answer": "C",
+      "options": [
+        "toilet",
+        "living room",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_0",
+        "adjacent_rooms": [
+          "2_1",
+          "2_3"
+        ],
+        "correct_answer_room": "2_1",
+        "all_options": [
+          "toilet",
+          "living room",
+          "dining room"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 2,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 2,
+        "current_room": "other room",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "other room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "other room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 6,
+    "question": "From your current position, will you pass through the familyroom/lounge on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 6,
+      "current_room": "other room",
+      "landmark_room": "familyroom/lounge",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "other room",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "other room"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "other room"
+      ]
+    }
+  }
+}

test/000602/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 602,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the stairs and past the elevators on the right. Walk into the pool room and stop next to the plant on the right. ', instruction_tokens=[2584, 2452, 2389, 2222, 119, 1728, 2389, 840, 1613, 2389, 1968, 15, 2584, 1264, 2389, 1846, 1994, 119, 2278, 1576, 2438, 2389, 1810, 1613, 2389, 1968, 15])",
+  "instruction_text": "Walk towards the stairs and past the elevators on the right. Walk into the pool room and stop next to the plant on the right. ",
+  "num_steps": 39,
+  "total_unique_objects": 81,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 38,
+      "question": "Recall your earlier path. When you passed by the plant in the spa/sauna, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        89
+      ],
+      "metadata": {
+        "probe_object_id": 89,
+        "probe_category": "plant",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 23,
+        "best_view_timestep": 29,
+        "num_sightings": 10,
+        "spatial_relation": "right",
+        "object_position": [
+          9.611960411071777,
+          1.1948498487472534,
+          -0.5551228523254395
+        ],
+        "agent_position_when_seen": [
+          7.304060935974121,
+          0.09863299131393433,
+          -1.8789373636245728
+        ],
+        "pixel_centroid_x": 109.22122762148338,
+        "normalized_position_x": -0.1467091592071611,
+        "object_pixel_count": 782,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 39
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 38,
+      "question": "Along your path, did you see the objects before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        73,
+        175
+      ],
+      "metadata": {
+        "object_A_id": 73,
+        "object_A_category": "objects",
+        "object_A_timestep": 0,
+        "object_B_id": 175,
+        "object_B_category": "objects",
+        "object_B_timestep": 7,
+        "time_gap": 7,
+        "asked_first_object_id": 73,
+        "asked_second_object_id": 175
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 27,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) entryway/foyer/lobby (C) bathroom",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "entryway/foyer/lobby",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "stairs",
+          "entryway/foyer/lobby",
+          "bathroom"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 15,
+      "question": "From your current viewpoint, is the counter to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        178,
+        182
+      ],
+      "metadata": {
+        "object_A_id": 178,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          7.319709777832031,
+          1.4687199592590332,
+          -3.5299301147460938
+        ],
+        "object_B_id": 182,
+        "object_B_category": "counter",
+        "object_B_position": [
+          7.32213020324707,
+          0.6709690093994141,
+          -2.868040084838867
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          4.392756938934326,
+          0.17857611179351807,
+          -2.4915103912353516
+        ],
+        "agent_rotation": [
+          -0.5689969658851624,
+          0.0,
+          0.8223395943641663,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 36,
+      "question": "You are currently in the entryway/foyer/lobby, and you can see the stairs, stairs. Based on your understanding of the environment layout, which other area is the entryway/foyer/lobby directly connected to? (A) utilityroom/toolroom (B) workout/gym/exercise (C) spa/sauna",
+      "answer": "C",
+      "options": [
+        "utilityroom/toolroom",
+        "workout/gym/exercise",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_12",
+        "adjacent_rooms": [
+          "0_0",
+          "0_10",
+          "0_11",
+          "0_13",
+          "0_6",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "utilityroom/toolroom",
+          "workout/gym/exercise",
+          "spa/sauna"
+        ],
+        "context_rooms": "stairs, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 8,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "hallway",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 11,
+    "question": "From your current position, will you pass through the spa/sauna on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 11,
+      "current_room": "entryway/foyer/lobby",
+      "landmark_room": "spa/sauna",
+      "final_room": "spa/sauna",
+      "remaining_rooms": [
+        "entryway/foyer/lobby",
+        "spa/sauna"
+      ],
+      "all_rooms_in_trajectory": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "spa/sauna"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "entryway/foyer/lobby",
+        "hallway"
+      ]
+    }
+  }
+}

test/000635/meta.json

@@ -0,0 +1,124 @@
+{
+  "episode_id": 635,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PuKPg4mmafe/PuKPg4mmafe.glb",
+  "instruction": "InstructionData(instruction_text='Go past the ladies room down the long hallway, past the elevators, and stop when you reach a door that says staff only on the right. ', instruction_tokens=[1067, 1728, 2389, 1321, 1994, 780, 2389, 1418, 1126, 1728, 2389, 840, 119, 2278, 2632, 2703, 1920, 73, 757, 2388, 2033, 2215, 1618, 1613, 2389, 1968, 15])",
+  "instruction_text": "Go past the ladies room down the long hallway, past the elevators, and stop when you reach a door that says staff only on the right. ",
+  "num_steps": 82,
+  "total_unique_objects": 120,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 81,
+      "question": "Recall your earlier path. When you passed by the lighting in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        63
+      ],
+      "metadata": {
+        "probe_object_id": 63,
+        "probe_category": "lighting",
+        "probe_room": "hallway",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 5,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          -0.614495038986206,
+          3.2684402465820312,
+          25.58989906311035
+        ],
+        "agent_position_when_seen": [
+          5.645090103149414,
+          0.1839660406112671,
+          34.99449920654297
+        ],
+        "pixel_centroid_x": 245.32743362831857,
+        "normalized_position_x": 0.9166205752212389,
+        "object_pixel_count": 113,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 82
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 81,
+      "question": "Along your path, did you see the curtain before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        84
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "curtain",
+        "object_A_timestep": 3,
+        "object_B_id": 84,
+        "object_B_category": "picture",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 6,
+        "asked_second_object_id": 84
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 76,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) office (C) dining room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "office",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "office",
+          "dining room"
+        ],
+        "query_timestep_internal": 76,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 20,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) hallway (C) office",
+    "answer": "B",
+    "options": [
+      "dining room",
+      "hallway",
+      "office"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "dining room",
+        "hallway",
+        "office"
+      ],
+      "query_timestep_internal": 20,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

test/000646/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 646,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Go down the stairs and take a right. Walk straight and go into the bedroom through the door between the two silver chairs. Stop in the doorway. ', instruction_tokens=[1067, 780, 2389, 2222, 119, 2352, 73, 1968, 15, 2584, 2288, 119, 1067, 1264, 2389, 273, 2418, 2389, 757, 294, 2389, 2509, 2127, 458, 15, 2278, 1237, 2389, 766, 15])",
+  "instruction_text": "Go down the stairs and take a right. Walk straight and go into the bedroom through the door between the two silver chairs. Stop in the doorway. ",
+  "num_steps": 56,
+  "total_unique_objects": 134,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 55,
+      "question": "Recall your earlier path. When you passed by the curtain in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        274
+      ],
+      "metadata": {
+        "probe_object_id": 274,
+        "probe_category": "curtain",
+        "probe_room": "hallway",
+        "probe_region_id": "0_24",
+        "first_seen_timestep": 31,
+        "best_view_timestep": 44,
+        "num_sightings": 15,
+        "spatial_relation": "right",
+        "object_position": [
+          -1.929029941558838,
+          1.0414295196533203,
+          4.3600993156433105
+        ],
+        "agent_position_when_seen": [
+          2.3424341678619385,
+          0.20572906732559204,
+          2.9790000915527344
+        ],
+        "pixel_centroid_x": 234.08747044917257,
+        "normalized_position_x": 0.8288083628841607,
+        "object_pixel_count": 423,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 56
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 55,
+      "question": "Along your path, did you see the shower before or after the appliances?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        200
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "appliances",
+        "object_A_timestep": 0,
+        "object_B_id": 200,
+        "object_B_category": "shower",
+        "object_B_timestep": 18,
+        "time_gap": 18,
+        "asked_first_object_id": 200,
+        "asked_second_object_id": 28
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 27,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) spa/sauna (B) familyroom/lounge (C) living room",
+      "answer": "B",
+      "options": [
+        "spa/sauna",
+        "familyroom/lounge",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "spa/sauna",
+          "familyroom/lounge",
+          "living room"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 43,
+      "question": "From your current viewpoint, is the curtain to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        232,
+        274
+      ],
+      "metadata": {
+        "object_A_id": 232,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -3.2719902992248535,
+          0.9811232089996338,
+          -3.7875895500183105
+        ],
+        "object_B_id": 274,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          -1.929029941558838,
+          1.0414295196533203,
+          4.3600993156433105
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          2.5923290252685547,
+          0.20572906732559204,
+          2.9862513542175293
+        ],
+        "agent_rotation": [
+          -0.7172884345054626,
+          0.0,
+          -0.6967764496803284,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 46,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) closet (B) entryway/foyer/lobby (C) kitchen",
+      "answer": "A",
+      "options": [
+        "closet",
+        "entryway/foyer/lobby",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_22",
+        "adjacent_rooms": [
+          "0_21",
+          "0_23",
+          "0_25",
+          "0_27"
+        ],
+        "correct_answer_room": "0_27",
+        "all_options": [
+          "closet",
+          "entryway/foyer/lobby",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the familyroom/lounge on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "stairs",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "stairs",
+          "familyroom/lounge",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 55,
+    "question": "Recall your earlier path. When you passed by the curtain in the hallway, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      274
+    ],
+    "metadata": {
+      "probe_object_id": 274,
+      "probe_category": "curtain",
+      "probe_room": "hallway",
+      "probe_region_id": "0_24",
+      "first_seen_timestep": 31,
+      "best_view_timestep": 44,
+      "num_sightings": 15,
+      "spatial_relation": "right",
+      "object_position": [
+        -1.929029941558838,
+        1.0414295196533203,
+        4.3600993156433105
+      ],
+      "agent_position_when_seen": [
+        2.3424341678619385,
+        0.20572906732559204,
+        2.9790000915527344
+      ],
+      "pixel_centroid_x": 234.08747044917257,
+      "normalized_position_x": 0.8288083628841607,
+      "object_pixel_count": 423,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 56
+    }
+  }
+}

test/000673/meta.json

@@ -0,0 +1,167 @@
+{
+  "episode_id": 673,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/vyrNrziPKCB/vyrNrziPKCB.glb",
+  "instruction": "InstructionData(instruction_text='Turn left and head towards the table game. Make a left at the door. Head inside the bedroom and walk towards the bathroom. Stop at the entrance of the bathroom. ', instruction_tokens=[2494, 1360, 119, 1162, 2452, 2389, 2342, 1035, 15, 1446, 73, 1360, 178, 2389, 757, 15, 1162, 1249, 2389, 273, 119, 2584, 2452, 2389, 242, 15, 2278, 178, 2389, 867, 1605, 2389, 242, 15])",
+  "instruction_text": "Turn left and head towards the table game. Make a left at the door. Head inside the bedroom and walk towards the bathroom. Stop at the entrance of the bathroom. ",
+  "num_steps": 46,
+  "total_unique_objects": 773,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 45,
+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        903
+      ],
+      "metadata": {
+        "probe_object_id": 903,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_32",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 1,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          24.990299224853516,
+          1.5750904083251953,
+          13.009499549865723
+        ],
+        "agent_position_when_seen": [
+          20.718399047851562,
+          -0.0014309883117675781,
+          17.920299530029297
+        ],
+        "pixel_centroid_x": 224.32,
+        "normalized_position_x": 0.7525,
+        "object_pixel_count": 125,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 46
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 32,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) closet (C) porch/terrace/deck",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "closet",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "closet",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 3,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) workout/gym/exercise (B) other room (C) stairs",
+      "answer": "C",
+      "options": [
+        "workout/gym/exercise",
+        "other room",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_33",
+        "adjacent_rooms": [
+          "0_20",
+          "0_21",
+          "0_32",
+          "0_34",
+          "0_35",
+          "0_48",
+          "0_53"
+        ],
+        "correct_answer_room": "0_32",
+        "all_options": [
+          "workout/gym/exercise",
+          "other room",
+          "stairs"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 2,
+    "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) other room (B) entryway/foyer/lobby (C) bathroom",
+    "answer": "A",
+    "options": [
+      "other room",
+      "entryway/foyer/lobby",
+      "bathroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_49",
+      "adjacent_rooms": [
+        "0_13",
+        "0_22",
+        "0_23",
+        "0_25",
+        "0_48",
+        "0_51",
+        "0_52"
+      ],
+      "correct_answer_room": "0_13",
+      "all_options": [
+        "other room",
+        "entryway/foyer/lobby",
+        "bathroom"
+      ],
+      "context_rooms": "workout/gym/exercise, kitchen"
+    }
+  }
+}

test/000711/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 711,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/D7N2EKCX4Sj/D7N2EKCX4Sj.glb",
+  "instruction": "InstructionData(instruction_text='Turn and walk up the stairs passed the welcome sign. Walk passed the armchairs towards the fireplace. Walk through the doorway near the armchairs and into the hallway with the wooden banisters. ', instruction_tokens=[2494, 119, 2584, 2527, 2389, 2222, 1725, 2389, 2620, 2125, 15, 2584, 1725, 2389, 156, 2452, 2389, 942, 15, 2584, 2418, 2389, 766, 1563, 2389, 156, 119, 1264, 2389, 1126, 2661, 2389, 2672, 212, 15])",
+  "instruction_text": "Turn and walk up the stairs passed the welcome sign. Walk passed the armchairs towards the fireplace. Walk through the doorway near the armchairs and into the hallway with the wooden banisters. ",
+  "num_steps": 67,
+  "total_unique_objects": 374,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 66,
+      "question": "Recall your earlier path. When you passed by the chair in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        3
+      ],
+      "metadata": {
+        "probe_object_id": 3,
+        "probe_category": "chair",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 41,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          2.1070399284362793,
+          -2.5057907104492188,
+          10.229899406433105
+        ],
+        "agent_position_when_seen": [
+          2.9336419105529785,
+          0.007922172546386719,
+          -7.105597972869873
+        ],
+        "pixel_centroid_x": 179.345,
+        "normalized_position_x": 0.4011328125,
+        "object_pixel_count": 200,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 67
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 66,
+      "question": "Along your path, did you see the  before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        42,
+        1145
+      ],
+      "metadata": {
+        "object_A_id": 42,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 1145,
+        "object_B_category": "picture",
+        "object_B_timestep": 17,
+        "time_gap": 17,
+        "asked_first_object_id": 42,
+        "asked_second_object_id": 1145
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 65,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) entryway/foyer/lobby (C) lounge",
+      "answer": "C",
+      "options": [
+        "office",
+        "entryway/foyer/lobby",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "office",
+          "entryway/foyer/lobby",
+          "lounge"
+        ],
+        "query_timestep_internal": 65,
+        "rooms_visited": [
+          "lounge",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 53,
+      "question": "From your current viewpoint, is the beam to the left or right of the column?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1251,
+        97
+      ],
+      "metadata": {
+        "object_A_id": 1251,
+        "object_A_category": "column",
+        "object_A_position": [
+          5.679969787597656,
+          4.167049407958984,
+          2.793179988861084
+        ],
+        "object_B_id": 97,
+        "object_B_category": "beam",
+        "object_B_position": [
+          1.9859800338745117,
+          -1.675180435180664,
+          5.3607096672058105
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          4.018035888671875,
+          0.007922172546386719,
+          -5.207884788513184
+        ],
+        "agent_rotation": [
+          -0.4078437089920044,
+          0.0,
+          0.9130517244338989,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 27,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) lounge (B) balcony (C) toilet",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "balcony",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_11",
+        "adjacent_rooms": [
+          "1_12",
+          "1_13",
+          "1_14",
+          "1_16",
+          "1_17"
+        ],
+        "correct_answer_room": "1_17",
+        "all_options": [
+          "lounge",
+          "balcony",
+          "toilet"
+        ],
+        "context_rooms": "bathroom, junk"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 9,
+        "current_room": "lounge",
+        "landmark_room": "stairs",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "lounge",
+          "stairs",
+          "lounge",
+          "stairs",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "lounge",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 66,
+    "question": "Along your path, did you see the  before or after the picture?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      42,
+      1145
+    ],
+    "metadata": {
+      "object_A_id": 42,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 1145,
+      "object_B_category": "picture",
+      "object_B_timestep": 17,
+      "time_gap": 17,
+      "asked_first_object_id": 42,
+      "asked_second_object_id": 1145
+    }
+  }
+}

test/000723/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 723,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/b8cTxDM8gDG/b8cTxDM8gDG.glb",
+  "instruction": "InstructionData(instruction_text='Exit the patio doors and move left, stopping at the entrance of the next set of doors, in front of the white armchair. ', instruction_tokens=[888, 2389, 1737, 762, 119, 1537, 1360, 2279, 178, 2389, 867, 1605, 2389, 1576, 2073, 1605, 762, 1237, 1019, 1605, 2389, 2637, 155, 15])",
+  "instruction_text": "Exit the patio doors and move left, stopping at the entrance of the next set of doors, in front of the white armchair. ",
+  "num_steps": 47,
+  "total_unique_objects": 293,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 46,
+      "question": "Recall your earlier path. When you passed by the table in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        256
+      ],
+      "metadata": {
+        "probe_object_id": 256,
+        "probe_category": "table",
+        "probe_room": "living room",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 21,
+        "best_view_timestep": 27,
+        "num_sightings": 21,
+        "spatial_relation": "left",
+        "object_position": [
+          -15.647001266479492,
+          -2.686349868774414,
+          2.8719100952148438
+        ],
+        "agent_position_when_seen": [
+          -23.27311897277832,
+          -3.1467251777648926,
+          1.054980993270874
+        ],
+        "pixel_centroid_x": 52.07344632768361,
+        "normalized_position_x": -0.5931762005649718,
+        "object_pixel_count": 177,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 47
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 46,
+      "question": "Along your path, did you see the sofa before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        336,
+        327
+      ],
+      "metadata": {
+        "object_A_id": 336,
+        "object_A_category": "sofa",
+        "object_A_timestep": 0,
+        "object_B_id": 327,
+        "object_B_category": "sofa",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 327,
+        "asked_second_object_id": 336
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 38,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) balcony (C) closet",
+      "answer": "A",
+      "options": [
+        "porch/terrace/deck",
+        "balcony",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "porch/terrace/deck",
+          "balcony",
+          "closet"
+        ],
+        "query_timestep_internal": 38,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 27,
+      "question": "From your current viewpoint, is the table to the left or right of the counter?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        237,
+        324
+      ],
+      "metadata": {
+        "object_A_id": 237,
+        "object_A_category": "counter",
+        "object_A_position": [
+          -15.68120002746582,
+          -2.60834002494812,
+          -0.4756760597229004
+        ],
+        "object_B_id": 324,
+        "object_B_category": "table",
+        "object_B_position": [
+          -22.130699157714844,
+          -2.8530995845794678,
+          -3.3059301376342773
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -23.27311897277832,
+          -3.1467251777648926,
+          1.054980993270874
+        ],
+        "agent_rotation": [
+          -0.40821290016174316,
+          0.0,
+          0.9128867387771606,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) bathroom (B) bedroom (C) living room",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "bedroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_5",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "bathroom",
+          "bedroom",
+          "living room"
+        ],
+        "context_rooms": "kitchen, porch/terrace/deck"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 19,
+      "question": "From your current position, will you pass through the workout/gym/exercise on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 19,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "porch/terrace/deck",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "porch/terrace/deck"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 23,
+    "question": "From your current viewpoint, is the chair to the left or right of the table?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      324,
+      258
+    ],
+    "metadata": {
+      "object_A_id": 324,
+      "object_A_category": "table",
+      "object_A_position": [
+        -22.130699157714844,
+        -2.8530995845794678,
+        -3.3059301376342773
+      ],
+      "object_B_id": 258,
+      "object_B_category": "chair",
+      "object_B_position": [
+        -17.791900634765625,
+        -2.572849988937378,
+        3.0293400287628174
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -24.0184268951416,
+        -3.1467251777648926,
+        0.3882565200328827
+      ],
+      "agent_rotation": [
+        -0.40821290016174316,
+        0.0,
+        0.9128867387771606,
+        0.0
+      ]
+    }
+  }
+}

test/000742/meta.json

@@ -0,0 +1,168 @@
+{
+  "episode_id": 742,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb",
+  "instruction": "InstructionData(instruction_text='With the counter on your left. ', instruction_tokens=[2661, 2389, 598, 1613, 2706, 1360, 15])",
+  "instruction_text": "With the counter on your left. ",
+  "num_steps": 52,
+  "total_unique_objects": 84,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 51,
+      "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        110
+      ],
+      "metadata": {
+        "probe_object_id": 110,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_4",
+        "first_seen_timestep": 12,
+        "best_view_timestep": 16,
+        "num_sightings": 15,
+        "spatial_relation": "right",
+        "object_position": [
+          0.5972329378128052,
+          0.36919307708740234,
+          -0.48285794258117676
+        ],
+        "agent_position_when_seen": [
+          7.499692440032959,
+          3.203425407409668,
+          0.3078659474849701
+        ],
+        "pixel_centroid_x": 215.92094861660078,
+        "normalized_position_x": 0.6868824110671936,
+        "object_pixel_count": 506,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 52
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 51,
+      "question": "Along your path, did you see the  before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        12,
+        306
+      ],
+      "metadata": {
+        "object_A_id": 12,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 306,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 12,
+        "asked_second_object_id": 306
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 11,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) toilet (C) bathroom",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "toilet",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "dining room",
+          "toilet",
+          "bathroom"
+        ],
+        "query_timestep_internal": 11,
+        "rooms_visited": [
+          "dining room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 34,
+      "question": "From your current viewpoint, is the picture to the left or right of the sofa?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        317,
+        69
+      ],
+      "metadata": {
+        "object_A_id": 317,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          0.13342201709747314,
+          -3.172790050506592,
+          0.5102429389953613
+        ],
+        "object_B_id": 69,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -1.3286800384521484,
+          4.652460098266602,
+          -1.1454200744628906
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          4.886229038238525,
+          3.203425407409668,
+          0.8746575117111206
+        ],
+        "agent_rotation": [
+          -0.715615451335907,
+          0.0,
+          -0.6984944939613342,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 51,
+    "question": "Along your path, did you see the table before or after the ?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      12,
+      306
+    ],
+    "metadata": {
+      "object_A_id": 12,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 306,
+      "object_B_category": "table",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 306,
+      "asked_second_object_id": 12
+    }
+  }
+}

test/000758/meta.json

@@ -0,0 +1,245 @@
+{
+  "episode_id": 758,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bedroom into the main house, make a hard right at the chair outside and move towards the largest rock behind the shrub, then wait. ', instruction_tokens=[888, 2389, 273, 1264, 2389, 1445, 1213, 1446, 73, 1152, 1968, 178, 2389, 457, 1665, 119, 1537, 2452, 2389, 1338, 1982, 285, 2389, 2115, 2394, 2579, 15])",
+  "instruction_text": "Exit the bedroom into the main house, make a hard right at the chair outside and move towards the largest rock behind the shrub, then wait. ",
+  "num_steps": 112,
+  "total_unique_objects": 203,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 111,
+      "question": "Recall your earlier path. When you passed by the cabinet in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        250
+      ],
+      "metadata": {
+        "probe_object_id": 250,
+        "probe_category": "cabinet",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_22",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          -12.418600082397461,
+          0.828942060470581,
+          4.622029781341553
+        ],
+        "agent_position_when_seen": [
+          -10.479700088500977,
+          -0.5917159914970398,
+          4.165410041809082
+        ],
+        "pixel_centroid_x": 66.38180272108843,
+        "normalized_position_x": -0.4813921662414966,
+        "object_pixel_count": 1176,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 112
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 111,
+      "question": "Along your path, did you see the bed before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        35,
+        2
+      ],
+      "metadata": {
+        "object_A_id": 35,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 2,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 35
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 40,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) familyroom/lounge (C) bedroom",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "familyroom/lounge",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "kitchen",
+          "familyroom/lounge",
+          "bedroom"
+        ],
+        "query_timestep_internal": 40,
+        "rooms_visited": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "outdoor",
+          "porch/terrace/deck",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the table to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        242,
+        249
+      ],
+      "metadata": {
+        "object_A_id": 242,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -11.414799690246582,
+          -0.232255220413208,
+          2.6774497032165527
+        ],
+        "object_B_id": 249,
+        "object_B_category": "table",
+        "object_B_position": [
+          -12.621399879455566,
+          -0.35706305503845215,
+          3.8996798992156982
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -10.479700088500977,
+          -0.5917159914970398,
+          4.165410041809082
+        ],
+        "agent_rotation": [
+          0.995113730430603,
+          0.0,
+          0.0987354964017868,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 16,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) living room (B) spa/sauna (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "living room",
+        "spa/sauna",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_18",
+        "adjacent_rooms": [
+          "0_15",
+          "0_17",
+          "0_19",
+          "0_20",
+          "0_21",
+          "0_23",
+          "0_28",
+          "0_7"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "living room",
+          "spa/sauna",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "outdoor, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 50,
+      "question": "From your current position, will you pass through the spa/sauna on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 50,
+        "current_room": "bedroom",
+        "landmark_room": "spa/sauna",
+        "final_room": "outdoor",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "entryway/foyer/lobby",
+          "hallway",
+          "porch/terrace/deck",
+          "outdoor"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "outdoor",
+          "porch/terrace/deck",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "porch/terrace/deck",
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 111,
+    "question": "Along your path, did you see the  before or after the bed?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      35,
+      2
+    ],
+    "metadata": {
+      "object_A_id": 35,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 2,
+      "object_B_category": "bed",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 35,
+      "asked_second_object_id": 2
+    }
+  }
+}

test/000804/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 804,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Back out of the room slightly and turn to the right to walk down the hall. Continue to walk straight past the stairs and straight ahead into the bathroom. Walk through the room with the sink and into the room with the tub. Stop on the small black bath mat. ', instruction_tokens=[190, 1658, 1605, 2389, 1994, 2164, 119, 2494, 2438, 2389, 1968, 2438, 2584, 780, 2389, 1121, 15, 569, 2438, 2584, 2288, 1728, 2389, 2222, 119, 2288, 98, 1264, 2389, 242, 15, 2584, 2418, 2389, 1994, 2661, 2389, 2132, 119, 1264, 2389, 1994, 2661, 2389, 2488, 15, 2278, 1613, 2389, 2170, 314, 240, 1476, 15])",
+  "instruction_text": "Back out of the room slightly and turn to the right to walk down the hall. Continue to walk straight past the stairs and straight ahead into the bathroom. Walk through the room with the sink and into the room with the tub. Stop on the small black bath mat. ",
+  "num_steps": 49,
+  "total_unique_objects": 87,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the lighting in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        12
+      ],
+      "metadata": {
+        "probe_object_id": 12,
+        "probe_category": "lighting",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_0",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 22,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          -10.175700187683105,
+          3.958940029144287,
+          6.5907697677612305
+        ],
+        "agent_position_when_seen": [
+          -6.859179973602295,
+          2.9162778854370117,
+          -1.5994279384613037
+        ],
+        "pixel_centroid_x": 246.01171875,
+        "normalized_position_x": 0.921966552734375,
+        "object_pixel_count": 256,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 49
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 48,
+      "question": "Along your path, did you see the furniture before or after the chair?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        432,
+        5
+      ],
+      "metadata": {
+        "object_A_id": 432,
+        "object_A_category": "chair",
+        "object_A_timestep": 3,
+        "object_B_id": 5,
+        "object_B_category": "furniture",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 432
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) hallway (C) living room",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "hallway",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "laundryroom/mudroom",
+          "hallway",
+          "living room"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 28,
+      "question": "From your current viewpoint, is the lighting to the left or right of the sofa?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        384,
+        407
+      ],
+      "metadata": {
+        "object_A_id": 384,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -11.797100067138672,
+          0.4671778678894043,
+          6.781189918518066
+        ],
+        "object_B_id": 407,
+        "object_B_category": "lighting",
+        "object_B_position": [
+          -8.622770309448242,
+          1.7524199485778809,
+          4.3742499351501465
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -8.099052429199219,
+          2.9162778854370117,
+          -1.4406256675720215
+        ],
+        "agent_rotation": [
+          -0.6606658101081848,
+          0.0,
+          -0.7506802678108215,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 16,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bedroom (B) familyroom/lounge (C) kitchen",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "familyroom/lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_8",
+        "adjacent_rooms": [
+          "1_5",
+          "1_6"
+        ],
+        "correct_answer_room": "1_5",
+        "all_options": [
+          "bedroom",
+          "familyroom/lounge",
+          "kitchen"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 24,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 24,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 18,
+    "question": "From your current viewpoint, is the table to the left or right of the tv_monitor?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      395,
+      404
+    ],
+    "metadata": {
+      "object_A_id": 395,
+      "object_A_category": "tv_monitor",
+      "object_A_position": [
+        -13.818300247192383,
+        1.9445900917053223,
+        5.454790115356445
+      ],
+      "object_B_id": 404,
+      "object_B_category": "table",
+      "object_B_position": [
+        -11.84630012512207,
+        0.347869873046875,
+        5.371059894561768
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -6.133057594299316,
+        2.9162778854370117,
+        -1.435941457748413
+      ],
+      "agent_rotation": [
+        -0.832444429397583,
+        0.0,
+        -0.5541085004806519,
+        0.0
+      ]
+    }
+  }
+}

test/000816/meta.json

@@ -0,0 +1,252 @@
+{
+  "episode_id": 816,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VzqfbhrpDEA/VzqfbhrpDEA.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom and turn right. Walk straight and head down the stairs on the left. Stop at the bottom of the stairs near the window. ', instruction_tokens=[888, 2389, 242, 119, 2494, 1968, 15, 2584, 2288, 119, 1162, 780, 2389, 2222, 1613, 2389, 1360, 15, 2278, 178, 2389, 348, 1605, 2389, 2222, 1563, 2389, 2652, 15])",
+  "instruction_text": "Exit the bathroom and turn right. Walk straight and head down the stairs on the left. Stop at the bottom of the stairs near the window. ",
+  "num_steps": 79,
+  "total_unique_objects": 188,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 78,
+      "question": "Recall your earlier path. When you passed by the curtain in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1713
+      ],
+      "metadata": {
+        "probe_object_id": 1713,
+        "probe_category": "curtain",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_46",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 58,
+        "num_sightings": 11,
+        "spatial_relation": "right",
+        "object_position": [
+          -6.332590103149414,
+          1.2131197452545166,
+          2.4169397354125977
+        ],
+        "agent_position_when_seen": [
+          -9.953276634216309,
+          3.491008996963501,
+          -4.165984630584717
+        ],
+        "pixel_centroid_x": 225.6797153024911,
+        "normalized_position_x": 0.7631227758007118,
+        "object_pixel_count": 281,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 79
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 78,
+      "question": "Along your path, did you see the table before or after the cabinet?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1062,
+        1619
+      ],
+      "metadata": {
+        "object_A_id": 1062,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 2,
+        "object_B_id": 1619,
+        "object_B_category": "table",
+        "object_B_timestep": 13,
+        "time_gap": 11,
+        "asked_first_object_id": 1619,
+        "asked_second_object_id": 1062
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 21,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) tv (C) bedroom",
+      "answer": "B",
+      "options": [
+        "office",
+        "tv",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "tv",
+        "all_options": [
+          "office",
+          "tv",
+          "bedroom"
+        ],
+        "query_timestep_internal": 21,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "stairs",
+          "tv"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 43,
+      "question": "From your current viewpoint, is the objects to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        402,
+        355
+      ],
+      "metadata": {
+        "object_A_id": 402,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -11.059900283813477,
+          1.195889949798584,
+          2.7887699604034424
+        ],
+        "object_B_id": 355,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -11.938400268554688,
+          2.463289976119995,
+          2.9265997409820557
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -13.173726081848145,
+          3.491008996963501,
+          -4.276966571807861
+        ],
+        "agent_rotation": [
+          -0.6501542329788208,
+          0.0,
+          0.7598022222518921,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 3,
+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) office (B) tv (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "office",
+        "tv",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_24",
+          "0_43",
+          "0_46",
+          "0_7"
+        ],
+        "correct_answer_room": "0_7",
+        "all_options": [
+          "office",
+          "tv",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "hallway, dining room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 2,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 2,
+        "current_room": "bathroom",
+        "landmark_room": "hallway",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "tv",
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "stairs",
+          "tv"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 42,
+    "question": "From your current viewpoint, is the picture to the left or right of the curtain?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      377,
+      1606
+    ],
+    "metadata": {
+      "object_A_id": 377,
+      "object_A_category": "curtain",
+      "object_A_position": [
+        -10.770299911499023,
+        2.161600112915039,
+        3.4063901901245117
+      ],
+      "object_B_id": 1606,
+      "object_B_category": "picture",
+      "object_B_position": [
+        -7.944169998168945,
+        4.802249431610107,
+        2.2945008277893066
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -13.420720100402832,
+        3.491008996963501,
+        -4.315616130828857
+      ],
+      "agent_rotation": [
+        -0.6501542329788208,
+        0.0,
+        0.7598022222518921,
+        0.0
+      ]
+    }
+  }
+}

test/000842/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 842,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Walk by the top of the stairs.  Turn left at the end of the hallway.  Go into the bedroom and stop before you get to the nightstand with the lamp on it. ', instruction_tokens=[2584, 404, 2389, 2444, 1605, 2389, 2222, 15, 2494, 1360, 178, 2389, 851, 1605, 2389, 1126, 15, 1067, 1264, 2389, 273, 119, 2278, 281, 2703, 1046, 2438, 2389, 1581, 2661, 2389, 1325, 1613, 1272, 15])",
+  "instruction_text": "Walk by the top of the stairs.  Turn left at the end of the hallway.  Go into the bedroom and stop before you get to the nightstand with the lamp on it. ",
+  "num_steps": 64,
+  "total_unique_objects": 61,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the chair in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        687
+      ],
+      "metadata": {
+        "probe_object_id": 687,
+        "probe_category": "chair",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_27",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 8,
+        "num_sightings": 6,
+        "spatial_relation": "right",
+        "object_position": [
+          2.0793800354003906,
+          4.309449672698975,
+          6.420740127563477
+        ],
+        "agent_position_when_seen": [
+          0.6126322746276855,
+          3.8914499282836914,
+          -3.452699661254883
+        ],
+        "pixel_centroid_x": 215.5342407486176,
+        "normalized_position_x": 0.683861255848575,
+        "object_pixel_count": 2351,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 63,
+      "question": "Along your path, did you see the wall before or after the wall?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        503,
+        621
+      ],
+      "metadata": {
+        "object_A_id": 503,
+        "object_A_category": "wall",
+        "object_A_timestep": 0,
+        "object_B_id": 621,
+        "object_B_category": "wall",
+        "object_B_timestep": 55,
+        "time_gap": 55,
+        "asked_first_object_id": 503,
+        "asked_second_object_id": 621
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) office (C) junk",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "office",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "office",
+          "junk"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 9,
+      "question": "From your current viewpoint, is the table to the left or right of the lighting?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        688,
+        684
+      ],
+      "metadata": {
+        "object_A_id": 688,
+        "object_A_category": "lighting",
+        "object_A_position": [
+          1.6168299913406372,
+          5.09935998916626,
+          6.721009731292725
+        ],
+        "object_B_id": 684,
+        "object_B_category": "table",
+        "object_B_position": [
+          2.706049919128418,
+          4.63847017288208,
+          3.1098999977111816
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          0.6126322746276855,
+          3.8914499282836914,
+          -3.452699661254883
+        ],
+        "agent_rotation": [
+          0.9751266241073608,
+          0.0,
+          -0.22164839506149292,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) bedroom (B) utilityroom/toolroom (C) junk",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "utilityroom/toolroom",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_46",
+        "adjacent_rooms": [
+          "2_27",
+          "2_45"
+        ],
+        "correct_answer_room": "2_27",
+        "all_options": [
+          "bedroom",
+          "utilityroom/toolroom",
+          "junk"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 32,
+      "question": "From your current position, will you pass through the familyroom/lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 32,
+        "current_room": "stairs",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "stairs",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 1,
+    "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 1,
+      "current_room": "bedroom",
+      "landmark_room": "kitchen",
+      "final_room": "bedroom",
+      "remaining_rooms": [
+        "bedroom",
+        "hallway",
+        "stairs",
+        "hallway",
+        "bedroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bedroom",
+        "hallway",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "bedroom"
+      ]
+    }
+  }
+}

test/000855/meta.json

@@ -0,0 +1,224 @@
+{
+  "episode_id": 855,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward towards the door and take a right to go into the hallway. In the hallway go straight and go up the stairs stopping on the second stair. ', instruction_tokens=[2584, 993, 2452, 2389, 757, 119, 2352, 73, 1968, 2438, 1067, 1264, 2389, 1126, 15, 1237, 2389, 1126, 1067, 2288, 119, 1067, 2527, 2389, 2222, 2279, 1613, 2389, 2054, 2219, 15])",
+  "instruction_text": "Walk forward towards the door and take a right to go into the hallway. In the hallway go straight and go up the stairs stopping on the second stair. ",
+  "num_steps": 39,
+  "total_unique_objects": 242,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 38,
+      "question": "Recall your earlier path. When you passed by the sofa in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        509
+      ],
+      "metadata": {
+        "probe_object_id": 509,
+        "probe_category": "sofa",
+        "probe_room": "living room",
+        "probe_region_id": "1_24",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 2,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          -15.146900177001953,
+          0.5121029615402222,
+          1.9839098453521729
+        ],
+        "agent_position_when_seen": [
+          -15.807100296020508,
+          0.11554622650146484,
+          -2.549730062484741
+        ],
+        "pixel_centroid_x": 205.99018334055145,
+        "normalized_position_x": 0.6092983073480582,
+        "object_pixel_count": 6927,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 39
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 38,
+      "question": "Along your path, did you see the chair before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        475,
+        880
+      ],
+      "metadata": {
+        "object_A_id": 475,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 880,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 475,
+        "asked_second_object_id": 880
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 38,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) closet (C) workout/gym/exercise",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "closet",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "closet",
+          "workout/gym/exercise"
+        ],
+        "query_timestep_internal": 38,
+        "rooms_visited": [
+          "hallway",
+          "laundryroom/mudroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the picture to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        628,
+        507
+      ],
+      "metadata": {
+        "object_A_id": 628,
+        "object_A_category": "table",
+        "object_A_position": [
+          -9.15110969543457,
+          0.5238499641418457,
+          -2.1719698905944824
+        ],
+        "object_B_id": 507,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -13.723600387573242,
+          2.076550245285034,
+          -0.45188701152801514
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -15.807100296020508,
+          0.11554622650146484,
+          -2.549730062484741
+        ],
+        "agent_rotation": [
+          -0.7198482155799866,
+          0.0,
+          0.6941315531730652,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 31,
+      "question": "Based on your exploration and knowledge of the environment, which area is the closet you see now directly connected to? (A) utilityroom/toolroom (B) hallway (C) office",
+      "answer": "B",
+      "options": [
+        "utilityroom/toolroom",
+        "hallway",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_9",
+        "adjacent_rooms": [
+          "2_37",
+          "2_40"
+        ],
+        "correct_answer_room": "2_37",
+        "all_options": [
+          "utilityroom/toolroom",
+          "hallway",
+          "office"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "question": "From your current position, will you pass through the utilityroom/toolroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 9,
+        "current_room": "laundryroom/mudroom",
+        "landmark_room": "utilityroom/toolroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "laundryroom/mudroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "laundryroom/mudroom"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "laundryroom/mudroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 9,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) toilet (C) balcony",
+    "answer": "A",
+    "options": [
+      "laundryroom/mudroom",
+      "toilet",
+      "balcony"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "laundryroom/mudroom",
+      "all_options": [
+        "laundryroom/mudroom",
+        "toilet",
+        "balcony"
+      ],
+      "query_timestep_internal": 9,
+      "rooms_visited": [
+        "hallway",
+        "laundryroom/mudroom"
+      ]
+    }
+  }
+}

test/000888/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 888,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb",
+  "instruction": "InstructionData(instruction_text='Go forward so that you line up with the pool. Towards the middle of the pool turn right to be between two chairs. Continue forward until you reach the stairs. ', instruction_tokens=[1067, 993, 2178, 2388, 2703, 1390, 2527, 2661, 2389, 1846, 15, 2452, 2389, 1506, 1605, 2389, 1846, 2494, 1968, 2438, 252, 294, 2509, 458, 15, 569, 993, 2524, 2703, 1920, 2389, 2222, 15])",
+  "instruction_text": "Go forward so that you line up with the pool. Towards the middle of the pool turn right to be between two chairs. Continue forward until you reach the stairs. ",
+  "num_steps": 36,
+  "total_unique_objects": 57,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 35,
+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        82
+      ],
+      "metadata": {
+        "probe_object_id": 82,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 27,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          3.206010103225708,
+          -1.2500698566436768,
+          -1.4949097633361816
+        ],
+        "agent_position_when_seen": [
+          0.24205642938613892,
+          -0.5108799934387207,
+          4.628668308258057
+        ],
+        "pixel_centroid_x": 248.35714285714286,
+        "normalized_position_x": 0.9402901785714286,
+        "object_pixel_count": 112,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 36
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 35,
+      "question": "Along your path, did you see the column before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        53
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "sofa",
+        "object_A_timestep": 8,
+        "object_B_id": 53,
+        "object_B_category": "column",
+        "object_B_timestep": 12,
+        "time_gap": 4,
+        "asked_first_object_id": 53,
+        "asked_second_object_id": 7
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 28,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) lounge (C) bathroom",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "lounge",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "stairs",
+          "lounge",
+          "bathroom"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        7,
+        52
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -2.992419958114624,
+          0.570734977722168,
+          -2.001389980316162
+        ],
+        "object_B_id": 52,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -3.6564600467681885,
+          0.10879850387573242,
+          4.5752997398376465
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          2.5858638286590576,
+          -0.5108799934387207,
+          5.070095062255859
+        ],
+        "agent_rotation": [
+          0.6139954924583435,
+          0.0,
+          0.7893096208572388,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 20,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) lounge (C) bedroom",
+    "answer": "B",
+    "options": [
+      "stairs",
+      "lounge",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "lounge",
+      "all_options": [
+        "stairs",
+        "lounge",
+        "bedroom"
+      ],
+      "query_timestep_internal": 20,
+      "rooms_visited": [
+        "lounge"
+      ]
+    }
+  }
+}

test/000983/meta.json

@@ -0,0 +1,186 @@
+{
+  "episode_id": 983,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text='walk towards the door passing the painting on the left hand side of the wall. Turn left  down the hallway passing the laundry room on your left and keep going down the hallway and make a left into the first room on your left hand side. you just arrived into the  bedroom. ', instruction_tokens=[2584, 2452, 2389, 757, 1727, 2389, 1688, 1613, 2389, 1360, 1135, 2121, 1605, 2389, 2593, 15, 2494, 1360, 780, 2389, 1126, 1727, 2389, 1343, 1994, 1613, 2706, 1360, 119, 1295, 1071, 780, 2389, 1126, 119, 1446, 73, 1360, 1264, 2389, 946, 1994, 1613, 2706, 1360, 1135, 2121, 15, 2703, 1293, 162, 1264, 2389, 273, 15])",
+  "instruction_text": "walk towards the door passing the painting on the left hand side of the wall. Turn left  down the hallway passing the laundry room on your left and keep going down the hallway and make a left into the first room on your left hand side. you just arrived into the  bedroom. ",
+  "num_steps": 54,
+  "total_unique_objects": 179,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 53,
+      "question": "Along your path, did you see the curtain before or after the plant?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        418,
+        2
+      ],
+      "metadata": {
+        "object_A_id": 418,
+        "object_A_category": "plant",
+        "object_A_timestep": 21,
+        "object_B_id": 2,
+        "object_B_category": "curtain",
+        "object_B_timestep": 30,
+        "time_gap": 9,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 418
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 52,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) office (C) hallway",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "office",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "office",
+          "hallway"
+        ],
+        "query_timestep_internal": 52,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 49,
+      "question": "From your current viewpoint, is the curtain to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        486,
+        4
+      ],
+      "metadata": {
+        "object_A_id": 486,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          14.953700065612793,
+          1.9802701473236084,
+          -0.9750570058822632
+        ],
+        "object_B_id": 4,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          20.026500701904297,
+          4.853789329528809,
+          5.9038801193237305
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          11.744385719299316,
+          3.628255844116211,
+          4.406048774719238
+        ],
+        "agent_rotation": [
+          0.9022204279899597,
+          0.0,
+          -0.431275337934494,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 47,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) living room (B) hallway (C) dining room",
+      "answer": "B",
+      "options": [
+        "living room",
+        "hallway",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_0",
+        "adjacent_rooms": [
+          "1_1",
+          "1_10",
+          "1_7",
+          "1_9"
+        ],
+        "correct_answer_room": "1_9",
+        "all_options": [
+          "living room",
+          "hallway",
+          "dining room"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 6,
+        "current_room": "bedroom",
+        "landmark_room": "closet",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 6,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) living room (C) stairs",
+    "answer": "A",
+    "options": [
+      "bedroom",
+      "living room",
+      "stairs"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bedroom",
+      "all_options": [
+        "bedroom",
+        "living room",
+        "stairs"
+      ],
+      "query_timestep_internal": 6,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/001041/meta.json

@@ -0,0 +1,156 @@
+{
+  "episode_id": 1041,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Walk passed the guitars mounted on the wall. Walk into the door ahead with the potted plant at the entrance. Stop in the circular room that has a bed up against the curved ceiling wall. ', instruction_tokens=[2584, 1725, 2389, 1113, 1536, 1613, 2389, 2593, 15, 2584, 1264, 2389, 757, 98, 2661, 2389, 1864, 1810, 178, 2389, 867, 15, 2278, 1237, 2389, 504, 1994, 2388, 1156, 73, 267, 2527, 96, 2389, 652, 447, 2593, 15])",
+  "instruction_text": "Walk passed the guitars mounted on the wall. Walk into the door ahead with the potted plant at the entrance. Stop in the circular room that has a bed up against the curved ceiling wall. ",
+  "num_steps": 33,
+  "total_unique_objects": 50,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 32,
+      "question": "Recall your earlier path. When you passed by the picture in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        78
+      ],
+      "metadata": {
+        "probe_object_id": 78,
+        "probe_category": "picture",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 19,
+        "best_view_timestep": 20,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          1.3785799741744995,
+          1.2758798599243164,
+          0.9561309814453125
+        ],
+        "agent_position_when_seen": [
+          -2.773193836212158,
+          2.7910420894622803,
+          -3.2462596893310547
+        ],
+        "pixel_centroid_x": 86.69444444444444,
+        "normalized_position_x": -0.3226996527777778,
+        "object_pixel_count": 108,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 33
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 32,
+      "question": "Along your path, did you see the table before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        77
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 77,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 77,
+        "asked_second_object_id": 6
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 28,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) hallway (C) utilityroom/toolroom",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "hallway",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bedroom",
+          "hallway",
+          "utilityroom/toolroom"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 11,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bathroom (B) living room (C) utilityroom/toolroom",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "living room",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_5"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "bathroom",
+          "living room",
+          "utilityroom/toolroom"
+        ],
+        "context_rooms": "hallway, stairs"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 10,
+    "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) utilityroom/toolroom (B) closet (C) entryway/foyer/lobby",
+    "answer": "B",
+    "options": [
+      "utilityroom/toolroom",
+      "closet",
+      "entryway/foyer/lobby"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_0",
+      "adjacent_rooms": [
+        "1_1",
+        "1_13",
+        "1_3"
+      ],
+      "correct_answer_room": "1_3",
+      "all_options": [
+        "utilityroom/toolroom",
+        "closet",
+        "entryway/foyer/lobby"
+      ],
+      "context_rooms": "other room, hallway"
+    }
+  }
+}

test/001053/meta.json

@@ -0,0 +1,116 @@
+{
+  "episode_id": 1053,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb",
+  "instruction": "InstructionData(instruction_text='Go straight through the hall.  Past the couch, past the table and to the staircase.  Go up the stairs just to the second stop and then wait. ', instruction_tokens=[1067, 2288, 2418, 2389, 1121, 15, 1728, 2389, 593, 1728, 2389, 2342, 119, 2438, 2389, 2220, 15, 1067, 2527, 2389, 2222, 1293, 2438, 2389, 2054, 2278, 119, 2394, 2579, 15])",
+  "instruction_text": "Go straight through the hall.  Past the couch, past the table and to the staircase.  Go up the stairs just to the second stop and then wait. ",
+  "num_steps": 70,
+  "total_unique_objects": 8,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 69,
+      "question": "Along your path, did you see the floor before or after the misc?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        422,
+        53
+      ],
+      "metadata": {
+        "object_A_id": 422,
+        "object_A_category": "floor",
+        "object_A_timestep": 0,
+        "object_B_id": 53,
+        "object_B_category": "misc",
+        "object_B_timestep": 69,
+        "time_gap": 69,
+        "asked_first_object_id": 422,
+        "asked_second_object_id": 53
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 16,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) balcony (C) hallway",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "balcony",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "balcony",
+          "hallway"
+        ],
+        "query_timestep_internal": 16,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 69,
+      "question": "You are currently in the hallway, and you can see the stairs, living room. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) hallway (B) toilet (C) lounge",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "toilet",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_27",
+        "adjacent_rooms": [
+          "0_13",
+          "0_14",
+          "0_15",
+          "0_16",
+          "0_20",
+          "0_26"
+        ],
+        "correct_answer_room": "0_26",
+        "all_options": [
+          "hallway",
+          "toilet",
+          "lounge"
+        ],
+        "context_rooms": "stairs, living room"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 69,
+    "question": "Along your path, did you see the misc before or after the floor?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      422,
+      53
+    ],
+    "metadata": {
+      "object_A_id": 422,
+      "object_A_category": "floor",
+      "object_A_timestep": 0,
+      "object_B_id": 53,
+      "object_B_category": "misc",
+      "object_B_timestep": 69,
+      "time_gap": 69,
+      "asked_first_object_id": 53,
+      "asked_second_object_id": 422
+    }
+  }
+}

test/001114/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 1114,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Exit room and make a right. Head straight until you reach the entrance to the next room and wait. ', instruction_tokens=[888, 1994, 119, 1446, 73, 1968, 15, 1162, 2288, 2524, 2703, 1920, 2389, 867, 2438, 2389, 1576, 1994, 119, 2579, 15])",
+  "instruction_text": "Exit room and make a right. Head straight until you reach the entrance to the next room and wait. ",
+  "num_steps": 71,
+  "total_unique_objects": 189,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 70,
+      "question": "Recall your earlier path. When you passed by the stairs in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        761
+      ],
+      "metadata": {
+        "probe_object_id": 761,
+        "probe_category": "stairs",
+        "probe_room": "hallway",
+        "probe_region_id": "0_20",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 7,
+        "num_sightings": 12,
+        "spatial_relation": "right",
+        "object_position": [
+          8.631159782409668,
+          0.17719316482543945,
+          -2.469939708709717
+        ],
+        "agent_position_when_seen": [
+          3.790756940841675,
+          0.11414599418640137,
+          -3.98956298828125
+        ],
+        "pixel_centroid_x": 244.95955882352942,
+        "normalized_position_x": 0.9137465533088236,
+        "object_pixel_count": 544,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 71
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 70,
+      "question": "Along your path, did you see the curtain before or after the mirror?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        602,
+        74
+      ],
+      "metadata": {
+        "object_A_id": 602,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 74,
+        "object_B_category": "mirror",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 602,
+        "asked_second_object_id": 74
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 36,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) porch/terrace/deck (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "porch/terrace/deck",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bathroom",
+          "porch/terrace/deck",
+          "hallway"
+        ],
+        "query_timestep_internal": 36,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 36,
+      "question": "From your current viewpoint, is the table to the left or right of the column?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        747,
+        678
+      ],
+      "metadata": {
+        "object_A_id": 747,
+        "object_A_category": "column",
+        "object_A_position": [
+          6.56279993057251,
+          1.2902997732162476,
+          1.888319969177246
+        ],
+        "object_B_id": 678,
+        "object_B_category": "table",
+        "object_B_position": [
+          9.523900032043457,
+          0.31529301404953003,
+          -0.7392408847808838
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          7.321104049682617,
+          0.11414599418640137,
+          -2.5110485553741455
+        ],
+        "agent_rotation": [
+          0.02159118466079235,
+          0.0,
+          -0.9997668862342834,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 7,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) lounge (B) bathroom (C) kitchen",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "bathroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_20",
+        "adjacent_rooms": [
+          "0_10",
+          "0_16",
+          "0_17",
+          "0_18",
+          "0_23",
+          "0_24",
+          "0_25",
+          "0_26"
+        ],
+        "correct_answer_room": "0_25",
+        "all_options": [
+          "lounge",
+          "bathroom",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, dining room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "office",
+        "landmark_room": "hallway",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "office",
+          "hallway",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 17,
+    "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) kitchen (B) hallway (C) closet",
+    "answer": "B",
+    "options": [
+      "kitchen",
+      "hallway",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_26",
+      "adjacent_rooms": [
+        "0_10",
+        "0_17",
+        "0_20",
+        "0_22"
+      ],
+      "correct_answer_room": "0_10",
+      "all_options": [
+        "kitchen",
+        "hallway",
+        "closet"
+      ],
+      "context_rooms": "living room, hallway"
+    }
+  }
+}

test/001123/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 1123,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Exit the laundry room by the door by the sink and make a left.  Walk to to the end of the hall, where you see the painting of a horse on the wall, and make a right to enter the bedroom.  Turn left when you enter the bedroom and walk approach the bed.  The bed will be on your right, and a doorway to the bathroom will be on your left.  Enter the bathroom and stop in front of the shower. ', instruction_tokens=[888, 2389, 1343, 1994, 404, 2389, 757, 404, 2389, 2132, 119, 1446, 73, 1360, 15, 2584, 2438, 2438, 2389, 851, 1605, 2389, 1121, 2633, 2703, 2059, 2389, 1688, 1605, 73, 1205, 1613, 2389, 2593, 119, 1446, 73, 1968, 2438, 860, 2389, 273, 15, 2494, 1360, 2632, 2703, 860, 2389, 273, 119, 2584, 137, 2389, 267, 15, 2389, 267, 2648, 252, 1613, 2706, 1968, 119, 73, 766, 2438, 2389, 242, 2648, 252, 1613, 2706, 1360, 15, 860, 2389, 242, 119, 2278, 1237, 1019, 1605, 2389, 2110, 15])",
+  "instruction_text": "Exit the laundry room by the door by the sink and make a left.  Walk to to the end of the hall, where you see the painting of a horse on the wall, and make a right to enter the bedroom.  Turn left when you enter the bedroom and walk approach the bed.  The bed will be on your right, and a doorway to the bathroom will be on your left.  Enter the bathroom and stop in front of the shower. ",
+  "num_steps": 72,
+  "total_unique_objects": 187,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 71,
+      "question": "Recall your earlier path. When you passed by the picture in the dining room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        617
+      ],
+      "metadata": {
+        "probe_object_id": 617,
+        "probe_category": "picture",
+        "probe_room": "dining room",
+        "probe_region_id": "0_16",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          4.8340301513671875,
+          2.2382099628448486,
+          6.179659843444824
+        ],
+        "agent_position_when_seen": [
+          6.407670021057129,
+          3.514145851135254,
+          -2.280019998550415
+        ],
+        "pixel_centroid_x": 18.37878787878788,
+        "normalized_position_x": -0.8564157196969697,
+        "object_pixel_count": 264,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 72
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 71,
+      "question": "Along your path, did you see the table before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        590,
+        332
+      ],
+      "metadata": {
+        "object_A_id": 590,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 332,
+        "object_B_category": "table",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 332,
+        "asked_second_object_id": 590
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 2,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) living room (C) lounge",
+      "answer": "A",
+      "options": [
+        "laundryroom/mudroom",
+        "living room",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "laundryroom/mudroom",
+        "all_options": [
+          "laundryroom/mudroom",
+          "living room",
+          "lounge"
+        ],
+        "query_timestep_internal": 2,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "laundryroom/mudroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 24,
+      "question": "From your current viewpoint, is the curtain to the left or right of the beam?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        656,
+        631
+      ],
+      "metadata": {
+        "object_A_id": 656,
+        "object_A_category": "beam",
+        "object_A_position": [
+          10.633899688720703,
+          5.67149019241333,
+          3.5633597373962402
+        ],
+        "object_B_id": 631,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          13.874300003051758,
+          2.1606998443603516,
+          1.286750316619873
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          7.402767181396484,
+          3.514145851135254,
+          -2.995267152786255
+        ],
+        "agent_rotation": [
+          -0.9179523587226868,
+          0.0,
+          0.3966907262802124,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) porch/terrace/deck (B) laundryroom/mudroom (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "laundryroom/mudroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_14",
+          "0_16",
+          "0_20",
+          "0_22",
+          "0_26"
+        ],
+        "correct_answer_room": "0_14",
+        "all_options": [
+          "porch/terrace/deck",
+          "laundryroom/mudroom",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "dining room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 17,
+      "question": "From your current position, will you pass through the laundryroom/mudroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 17,
+        "current_room": "hallway",
+        "landmark_room": "laundryroom/mudroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "laundryroom/mudroom"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "laundryroom/mudroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 37,
+    "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) entryway/foyer/lobby (B) laundryroom/mudroom (C) stairs",
+    "answer": "C",
+    "options": [
+      "entryway/foyer/lobby",
+      "laundryroom/mudroom",
+      "stairs"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_17",
+      "adjacent_rooms": [
+        "0_14",
+        "0_16",
+        "0_20",
+        "0_22",
+        "0_26"
+      ],
+      "correct_answer_room": "0_26",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "laundryroom/mudroom",
+        "stairs"
+      ],
+      "context_rooms": "familyroom/lounge, dining room"
+    }
+  }
+}

test/001134/meta.json

@@ -0,0 +1,90 @@
+{
+  "episode_id": 1134,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JeFG25nYj2p/JeFG25nYj2p.glb",
+  "instruction": "InstructionData(instruction_text='Facing the sink walk forward through the bathroom and past the closet on the right and into the bedroom taking a left and stopping at the closest edge of the dresser. ', instruction_tokens=[906, 2389, 2132, 2584, 993, 2418, 2389, 242, 119, 1728, 2389, 521, 1613, 2389, 1968, 119, 1264, 2389, 273, 2355, 73, 1360, 119, 2279, 178, 2389, 520, 825, 1605, 2389, 797, 15])",
+  "instruction_text": "Facing the sink walk forward through the bathroom and past the closet on the right and into the bedroom taking a left and stopping at the closest edge of the dresser. ",
+  "num_steps": 26,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 19,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) kitchen (C) toilet",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "kitchen",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "kitchen",
+          "toilet"
+        ],
+        "query_timestep_internal": 19,
+        "rooms_visited": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the toilet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "bathroom",
+        "landmark_room": "toilet",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 23,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) closet (C) toilet",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "closet",
+      "toilet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "closet",
+        "toilet"
+      ],
+      "query_timestep_internal": 23,
+      "rooms_visited": [
+        "bathroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/001150/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 1150,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Go up the stairs and stop in the bathroom. ', instruction_tokens=[1067, 2527, 2389, 2222, 119, 2278, 1237, 2389, 242, 15])",
+  "instruction_text": "Go up the stairs and stop in the bathroom. ",
+  "num_steps": 42,
+  "total_unique_objects": 44,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 41,
+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        210
+      ],
+      "metadata": {
+        "probe_object_id": 210,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 9,
+        "num_sightings": 7,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.472370147705078,
+          1.2124300003051758,
+          0.6541550159454346
+        ],
+        "agent_position_when_seen": [
+          -3.1789400577545166,
+          1.1176763772964478,
+          0.886260986328125
+        ],
+        "pixel_centroid_x": 69.29467318366332,
+        "normalized_position_x": -0.4586353657526303,
+        "object_pixel_count": 12071,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 42
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 41,
+      "question": "Along your path, did you see the lighting before or after the chair?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        73,
+        70
+      ],
+      "metadata": {
+        "object_A_id": 73,
+        "object_A_category": "chair",
+        "object_A_timestep": 3,
+        "object_B_id": 70,
+        "object_B_category": "lighting",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 70,
+        "asked_second_object_id": 73
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 29,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) utilityroom/toolroom (C) other room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "utilityroom/toolroom",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "utilityroom/toolroom",
+          "other room"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 10,
+      "question": "From your current viewpoint, is the railing to the left or right of the stairs?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        210,
+        211
+      ],
+      "metadata": {
+        "object_A_id": 210,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          -3.472370147705078,
+          1.2124300003051758,
+          0.6541550159454346
+        ],
+        "object_B_id": 211,
+        "object_B_category": "railing",
+        "object_B_position": [
+          -3.5230600833892822,
+          1.8659398555755615,
+          0.1823580265045166
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -3.1789400577545166,
+          1.1176763772964478,
+          0.886260986328125
+        ],
+        "agent_rotation": [
+          0.9717627167701721,
+          0.0,
+          -0.23596033453941345,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) living room (B) stairs (C) other room",
+      "answer": "C",
+      "options": [
+        "living room",
+        "stairs",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_0",
+        "adjacent_rooms": [
+          "1_1",
+          "1_13",
+          "1_3"
+        ],
+        "correct_answer_room": "1_1",
+        "all_options": [
+          "living room",
+          "stairs",
+          "other room"
+        ],
+        "context_rooms": "hallway, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "stairs",
+        "landmark_room": "kitchen",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "stairs",
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 4,
+    "question": "From your current position, will you pass through the utilityroom/toolroom on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 4,
+      "current_room": "stairs",
+      "landmark_room": "utilityroom/toolroom",
+      "final_room": "bathroom",
+      "remaining_rooms": [
+        "stairs",
+        "hallway",
+        "bathroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "hallway",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "stairs"
+      ]
+    }
+  }
+}

test/001167/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 1167,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Go into the large room towards the copy macine, and wiat there. ', instruction_tokens=[1067, 1264, 2389, 1336, 1994, 2452, 2389, 586, 1441, 119, 2642, 2395, 15])",
+  "instruction_text": "Go into the large room towards the copy macine, and wiat there. ",
+  "num_steps": 88,
+  "total_unique_objects": 329,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 87,
+      "question": "Recall your earlier path. When you passed by the table in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        158
+      ],
+      "metadata": {
+        "probe_object_id": 158,
+        "probe_category": "table",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "1_6",
+        "first_seen_timestep": 24,
+        "best_view_timestep": 30,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          6.743760108947754,
+          0.47791099548339844,
+          -5.066889762878418
+        ],
+        "agent_position_when_seen": [
+          14.414766311645508,
+          0.09357202053070068,
+          -2.4814672470092773
+        ],
+        "pixel_centroid_x": 229.22222222222223,
+        "normalized_position_x": 0.7907986111111112,
+        "object_pixel_count": 207,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 88
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 87,
+      "question": "Along your path, did you see the  before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        11,
+        339
+      ],
+      "metadata": {
+        "object_A_id": 11,
+        "object_A_category": "",
+        "object_A_timestep": 4,
+        "object_B_id": 339,
+        "object_B_category": "chair",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 11,
+        "asked_second_object_id": 339
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 72,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) office (C) junk",
+      "answer": "B",
+      "options": [
+        "other room",
+        "office",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "other room",
+          "office",
+          "junk"
+        ],
+        "query_timestep_internal": 72,
+        "rooms_visited": [
+          "lounge",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 55,
+      "question": "From your current viewpoint, is the table to the left or right of the objects?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        337,
+        234
+      ],
+      "metadata": {
+        "object_A_id": 337,
+        "object_A_category": "objects",
+        "object_A_position": [
+          10.829500198364258,
+          0.5962836742401123,
+          3.582590103149414
+        ],
+        "object_B_id": 234,
+        "object_B_category": "table",
+        "object_B_position": [
+          8.796819686889648,
+          0.2924227714538574,
+          2.862259864807129
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          12.595102310180664,
+          0.09357202053070068,
+          1.0518574714660645
+        ],
+        "agent_rotation": [
+          0.7576482892036438,
+          0.0,
+          0.6526631712913513,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 17,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) closet (B) rec/game (C) meetingroom/conferenceroom",
+      "answer": "C",
+      "options": [
+        "closet",
+        "rec/game",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_7",
+        "adjacent_rooms": [
+          "1_11",
+          "1_15",
+          "1_6"
+        ],
+        "correct_answer_room": "1_6",
+        "all_options": [
+          "closet",
+          "rec/game",
+          "meetingroom/conferenceroom"
+        ],
+        "context_rooms": "meetingroom/conferenceroom, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "question": "From your current position, will you pass through the office on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 14,
+        "current_room": "lounge",
+        "landmark_room": "office",
+        "final_room": "office",
+        "remaining_rooms": [
+          "lounge",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "lounge",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "lounge",
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 87,
+    "question": "Recall your earlier path. When you passed by the table in the meetingroom/conferenceroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      158
+    ],
+    "metadata": {
+      "probe_object_id": 158,
+      "probe_category": "table",
+      "probe_room": "meetingroom/conferenceroom",
+      "probe_region_id": "1_6",
+      "first_seen_timestep": 24,
+      "best_view_timestep": 30,
+      "num_sightings": 7,
+      "spatial_relation": "right",
+      "object_position": [
+        6.743760108947754,
+        0.47791099548339844,
+        -5.066889762878418
+      ],
+      "agent_position_when_seen": [
+        14.414766311645508,
+        0.09357202053070068,
+        -2.4814672470092773
+      ],
+      "pixel_centroid_x": 229.22222222222223,
+      "normalized_position_x": 0.7907986111111112,
+      "object_pixel_count": 207,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 88
+    }
+  }
+}

test/001197/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 1197,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/b8cTxDM8gDG/b8cTxDM8gDG.glb",
+  "instruction": "InstructionData(instruction_text='Move forward into the kitchen until you reach the cabinets directly past the oven.  Turn left and move through the space between the kitchen island an the counter.  Turn left and move to toward the open doorway.  Stop once you are on the welcome mat outside of the doorway. ', instruction_tokens=[1537, 993, 1264, 2389, 1306, 2524, 2703, 1920, 2389, 409, 720, 1728, 2389, 1667, 15, 2494, 1360, 119, 1537, 2418, 2389, 2193, 294, 2389, 1306, 1268, 118, 2389, 598, 15, 2494, 1360, 119, 1537, 2438, 2451, 2389, 1625, 766, 15, 2278, 1615, 2703, 149, 1613, 2389, 2620, 1476, 1665, 1605, 2389, 766, 15])",
+  "instruction_text": "Move forward into the kitchen until you reach the cabinets directly past the oven.  Turn left and move through the space between the kitchen island an the counter.  Turn left and move to toward the open doorway.  Stop once you are on the welcome mat outside of the doorway. ",
+  "num_steps": 72,
+  "total_unique_objects": 443,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 71,
+      "question": "Recall your earlier path. When you passed by the beam in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        126
+      ],
+      "metadata": {
+        "probe_object_id": 126,
+        "probe_category": "beam",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 44,
+        "best_view_timestep": 48,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -9.681929588317871,
+          -0.24670696258544922,
+          1.2378300428390503
+        ],
+        "agent_position_when_seen": [
+          -12.20075511932373,
+          -2.9316391944885254,
+          0.4883211851119995
+        ],
+        "pixel_centroid_x": 76.15579710144928,
+        "normalized_position_x": -0.4050328351449275,
+        "object_pixel_count": 276,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 72
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 71,
+      "question": "Along your path, did you see the plant before or after the plant?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        17,
+        697
+      ],
+      "metadata": {
+        "object_A_id": 17,
+        "object_A_category": "plant",
+        "object_A_timestep": 0,
+        "object_B_id": 697,
+        "object_B_category": "plant",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 17,
+        "asked_second_object_id": 697
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 65,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) entryway/foyer/lobby (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "entryway/foyer/lobby",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "stairs",
+          "entryway/foyer/lobby",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 65,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 43,
+      "question": "From your current viewpoint, is the objects to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        248,
+        216
+      ],
+      "metadata": {
+        "object_A_id": 248,
+        "object_A_category": "table",
+        "object_A_position": [
+          -8.144669532775879,
+          -2.4581398963928223,
+          -1.9558701515197754
+        ],
+        "object_B_id": 216,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -12.07960033416748,
+          -1.147589921951294,
+          -2.708280324935913
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -12.656389236450195,
+          -2.9467251300811768,
+          0.2930319607257843
+        ],
+        "agent_rotation": [
+          0.25291019678115845,
+          0.0,
+          -0.9674898386001587,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 24,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) balcony (B) kitchen (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "balcony",
+        "kitchen",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_3",
+          "0_5"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "balcony",
+          "kitchen",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "bedroom, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 16,
+        "current_room": "kitchen",
+        "landmark_room": "living room",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "kitchen",
+          "living room",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 27,
+    "question": "From your current position, will you pass through the hallway on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 27,
+      "current_room": "kitchen",
+      "landmark_room": "hallway",
+      "final_room": "entryway/foyer/lobby",
+      "remaining_rooms": [
+        "kitchen",
+        "living room",
+        "entryway/foyer/lobby"
+      ],
+      "all_rooms_in_trajectory": [
+        "entryway/foyer/lobby",
+        "kitchen",
+        "living room"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

test/001204/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 1204,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='exit bathroom, walk through door on right, go downstairs, exit through doors to left. ', instruction_tokens=[888, 242, 2584, 2418, 757, 1613, 1968, 1067, 782, 888, 2418, 762, 2438, 1360, 15])",
+  "instruction_text": "exit bathroom, walk through door on right, go downstairs, exit through doors to left. ",
+  "num_steps": 66,
+  "total_unique_objects": 149,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "question": "Recall your earlier path. When you passed by the table in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        266
+      ],
+      "metadata": {
+        "probe_object_id": 266,
+        "probe_category": "table",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_23",
+        "first_seen_timestep": 54,
+        "best_view_timestep": 58,
+        "num_sightings": 6,
+        "spatial_relation": "right",
+        "object_position": [
+          -4.823490142822266,
+          0.2929649353027344,
+          0.7791270017623901
+        ],
+        "agent_position_when_seen": [
+          4.5073442459106445,
+          0.18273229897022247,
+          3.1427102088928223
+        ],
+        "pixel_centroid_x": 246.25,
+        "normalized_position_x": 0.923828125,
+        "object_pixel_count": 168,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the railing before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        35,
+        22
+      ],
+      "metadata": {
+        "object_A_id": 35,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 22,
+        "object_B_category": "railing",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 22,
+        "asked_second_object_id": 35
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 65,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) entryway/foyer/lobby (C) hallway",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "porch/terrace/deck",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "query_timestep_internal": 65,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the stairs to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        295,
+        18
+      ],
+      "metadata": {
+        "object_A_id": 295,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          7.6437201499938965,
+          0.37148284912109375,
+          3.4275896549224854
+        ],
+        "object_B_id": 18,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          7.315400123596191,
+          0.4105489253997803,
+          2.205440044403076
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          6.103071212768555,
+          1.0057289600372314,
+          -0.1729506254196167
+        ],
+        "agent_rotation": [
+          -0.8925134539604187,
+          0.0,
+          0.4510209262371063,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 45,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) living room (B) porch/terrace/deck (C) kitchen",
+      "answer": "B",
+      "options": [
+        "living room",
+        "porch/terrace/deck",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_22",
+        "adjacent_rooms": [
+          "0_21",
+          "0_23",
+          "0_25",
+          "0_27"
+        ],
+        "correct_answer_room": "0_25",
+        "all_options": [
+          "living room",
+          "porch/terrace/deck",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 23,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 23,
+        "current_room": "bedroom",
+        "landmark_room": "bathroom",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "bedroom",
+          "stairs",
+          "familyroom/lounge",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 65,
+    "question": "Along your path, did you see the  before or after the railing?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      35,
+      22
+    ],
+    "metadata": {
+      "object_A_id": 35,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 22,
+      "object_B_category": "railing",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 35,
+      "asked_second_object_id": 22
+    }
+  }
+}

test/001212/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 1212,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Leave the bedroom and take a right. Enter the room and take a left. In the room turn left and enter the closet through the first door on your right. ', instruction_tokens=[1355, 2389, 273, 119, 2352, 73, 1968, 15, 860, 2389, 1994, 119, 2352, 73, 1360, 15, 1237, 2389, 1994, 2494, 1360, 119, 860, 2389, 521, 2418, 2389, 946, 757, 1613, 2706, 1968, 15])",
+  "instruction_text": "Leave the bedroom and take a right. Enter the room and take a left. In the room turn left and enter the closet through the first door on your right. ",
+  "num_steps": 73,
+  "total_unique_objects": 320,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 72,
+      "question": "Recall your earlier path. When you passed by the plant in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        634
+      ],
+      "metadata": {
+        "probe_object_id": 634,
+        "probe_category": "plant",
+        "probe_room": "hallway",
+        "probe_region_id": "1_29",
+        "first_seen_timestep": 15,
+        "best_view_timestep": 17,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          -6.703090190887451,
+          1.5612200498580933,
+          0.3413670063018799
+        ],
+        "agent_position_when_seen": [
+          -13.27217960357666,
+          3.115546703338623,
+          -6.126715660095215
+        ],
+        "pixel_centroid_x": 51.475806451612904,
+        "normalized_position_x": -0.5978452620967742,
+        "object_pixel_count": 124,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 73
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 72,
+      "question": "Along your path, did you see the lighting before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        880,
+        399
+      ],
+      "metadata": {
+        "object_A_id": 880,
+        "object_A_category": "bed",
+        "object_A_timestep": 3,
+        "object_B_id": 399,
+        "object_B_category": "lighting",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 399,
+        "asked_second_object_id": 880
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 66,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) garage (B) bedroom (C) bathroom",
+      "answer": "B",
+      "options": [
+        "garage",
+        "bedroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "garage",
+          "bedroom",
+          "bathroom"
+        ],
+        "query_timestep_internal": 66,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 54,
+      "question": "From your current viewpoint, is the table to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        482,
+        515
+      ],
+      "metadata": {
+        "object_A_id": 482,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          -17.15250015258789,
+          0.3344907760620117,
+          6.060500144958496
+        ],
+        "object_B_id": 515,
+        "object_B_category": "table",
+        "object_B_position": [
+          -17.810199737548828,
+          0.2457599639892578,
+          3.1823999881744385
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -15.234203338623047,
+          3.115546703338623,
+          -2.498241662979126
+        ],
+        "agent_rotation": [
+          -0.49844375252723694,
+          0.0,
+          -0.8669220209121704,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 27,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) garage (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "garage",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_24",
+        "adjacent_rooms": [
+          "1_20",
+          "1_23",
+          "1_26",
+          "1_28",
+          "1_29"
+        ],
+        "correct_answer_room": "1_29",
+        "all_options": [
+          "garage",
+          "hallway",
+          "kitchen"
+        ],
+        "context_rooms": "entryway/foyer/lobby, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 22,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 22,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 5,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) other room (B) toilet (C) garage",
+    "answer": "A",
+    "options": [
+      "other room",
+      "toilet",
+      "garage"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_29",
+      "adjacent_rooms": [
+        "1_14",
+        "1_16",
+        "1_17",
+        "1_18",
+        "1_19",
+        "1_20",
+        "1_23",
+        "1_24",
+        "1_25",
+        "1_31",
+        "1_32",
+        "1_47"
+      ],
+      "correct_answer_room": "1_31",
+      "all_options": [
+        "other room",
+        "toilet",
+        "garage"
+      ],
+      "context_rooms": "kitchen, closet"
+    }
+  }
+}

test/001217/meta.json

@@ -0,0 +1,142 @@
+{
+  "episode_id": 1217,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/uNb9QFRL6hY/uNb9QFRL6hY.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and after the second chair take a right and wait at the top of the stairs. ', instruction_tokens=[2494, 159, 119, 94, 2389, 2054, 457, 2352, 73, 1968, 119, 2579, 178, 2389, 2444, 1605, 2389, 2222, 15])",
+  "instruction_text": "Turn around and after the second chair take a right and wait at the top of the stairs. ",
+  "num_steps": 43,
+  "total_unique_objects": 93,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 42,
+      "question": "Recall your earlier path. When you passed by the fireplace in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        558
+      ],
+      "metadata": {
+        "probe_object_id": 558,
+        "probe_category": "fireplace",
+        "probe_room": "living room",
+        "probe_region_id": "0_28",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 9,
+        "num_sightings": 5,
+        "spatial_relation": "left",
+        "object_position": [
+          -17.775400161743164,
+          -0.5378930568695068,
+          -1.1635899543762207
+        ],
+        "agent_position_when_seen": [
+          -5.1553144454956055,
+          -0.3500903844833374,
+          -10.085708618164062
+        ],
+        "pixel_centroid_x": 42.09322033898305,
+        "normalized_position_x": -0.6711467161016949,
+        "object_pixel_count": 118,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 43
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 42,
+      "question": "Along your path, did you see the  before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        556
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "",
+        "object_A_timestep": 7,
+        "object_B_id": 556,
+        "object_B_category": "picture",
+        "object_B_timestep": 10,
+        "time_gap": 3,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 556
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 25,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) dining room (C) hallway",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "dining room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bedroom",
+          "dining room",
+          "hallway"
+        ],
+        "query_timestep_internal": 25,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 11,
+    "question": "From your current viewpoint, is the chair to the left or right of the bed?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      441,
+      449
+    ],
+    "metadata": {
+      "object_A_id": 441,
+      "object_A_category": "bed",
+      "object_A_position": [
+        -16.236600875854492,
+        3.1707100868225098,
+        -4.5408101081848145
+      ],
+      "object_B_id": 449,
+      "object_B_category": "chair",
+      "object_B_position": [
+        -11.940199851989746,
+        2.9969701766967773,
+        -4.633749961853027
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -5.403172492980957,
+        -0.3638482987880707,
+        -10.053054809570312
+      ],
+      "agent_rotation": [
+        0.6593114733695984,
+        0.0,
+        0.7518699169158936,
+        0.0
+      ]
+    }
+  }
+}

test/001219/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 1219,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Make a left at the stairs. Walk down the stairs. Walk out the door ahead of you. Make a slight right turn at the floor vase. Stop at the banister. ', instruction_tokens=[1446, 73, 1360, 178, 2389, 2222, 15, 2584, 780, 2389, 2222, 15, 2584, 1658, 2389, 757, 98, 1605, 2703, 15, 1446, 73, 2162, 1968, 2494, 178, 2389, 959, 2546, 15, 2278, 178, 2389, 211, 15])",
+  "instruction_text": "Make a left at the stairs. Walk down the stairs. Walk out the door ahead of you. Make a slight right turn at the floor vase. Stop at the banister. ",
+  "num_steps": 89,
+  "total_unique_objects": 153,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 88,
+      "question": "Recall your earlier path. When you passed by the mirror in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        681
+      ],
+      "metadata": {
+        "probe_object_id": 681,
+        "probe_category": "mirror",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_27",
+        "first_seen_timestep": 13,
+        "best_view_timestep": 13,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          2.5093300342559814,
+          5.741189479827881,
+          3.101860523223877
+        ],
+        "agent_position_when_seen": [
+          3.2408108711242676,
+          1.7344685792922974,
+          -6.713008403778076
+        ],
+        "pixel_centroid_x": 3.119047619047619,
+        "normalized_position_x": -0.9756324404761905,
+        "object_pixel_count": 714,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 89
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 88,
+      "question": "Along your path, did you see the chair before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        70,
+        84
+      ],
+      "metadata": {
+        "object_A_id": 70,
+        "object_A_category": "sofa",
+        "object_A_timestep": 0,
+        "object_B_id": 84,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 84,
+        "asked_second_object_id": 70
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 59,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) balcony (B) utilityroom/toolroom (C) dining room",
+      "answer": "A",
+      "options": [
+        "balcony",
+        "utilityroom/toolroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "balcony",
+          "utilityroom/toolroom",
+          "dining room"
+        ],
+        "query_timestep_internal": 59,
+        "rooms_visited": [
+          "balcony",
+          "bedroom",
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 15,
+      "question": "From your current viewpoint, is the cushion to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        679,
+        672
+      ],
+      "metadata": {
+        "object_A_id": 679,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -1.605679988861084,
+          4.681479454040527,
+          1.2386102676391602
+        ],
+        "object_B_id": 672,
+        "object_B_category": "cushion",
+        "object_B_position": [
+          -1.6707500219345093,
+          4.6879401206970215,
+          0.7390270233154297
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          2.7416625022888184,
+          1.4002413749694824,
+          -6.683839321136475
+        ],
+        "agent_rotation": [
+          0.6861715316772461,
+          0.0,
+          0.7274398803710938,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 22,
+      "question": "Based on your exploration and knowledge of the environment, which area is the lounge you see now directly connected to? (A) office (B) laundryroom/mudroom (C) dining room",
+      "answer": "A",
+      "options": [
+        "office",
+        "laundryroom/mudroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_25",
+        "adjacent_rooms": [
+          "2_24",
+          "2_26",
+          "2_27"
+        ],
+        "correct_answer_room": "2_24",
+        "all_options": [
+          "office",
+          "laundryroom/mudroom",
+          "dining room"
+        ],
+        "context_rooms": "lounge, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 2,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 2,
+        "current_room": "bedroom",
+        "landmark_room": "kitchen",
+        "final_room": "balcony",
+        "remaining_rooms": [
+          "bedroom",
+          "stairs",
+          "entryway/foyer/lobby",
+          "balcony"
+        ],
+        "all_rooms_in_trajectory": [
+          "balcony",
+          "bedroom",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 88,
+    "question": "Along your path, did you see the chair before or after the sofa?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      70,
+      84
+    ],
+    "metadata": {
+      "object_A_id": 70,
+      "object_A_category": "sofa",
+      "object_A_timestep": 0,
+      "object_B_id": 84,
+      "object_B_category": "chair",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 84,
+      "asked_second_object_id": 70
+    }
+  }
+}

test/001236/meta.json

@@ -0,0 +1,259 @@
+{
+  "episode_id": 1236,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Go past the main entrance and travel down the hall with the large tapestry and into the office with the walnut table and crystal vase on the mantle. ', instruction_tokens=[1067, 1728, 2389, 1445, 867, 119, 2461, 780, 2389, 1121, 2661, 2389, 1336, 2365, 119, 1264, 2389, 1607, 2661, 2389, 2598, 2342, 119, 635, 2546, 1613, 2389, 1459, 15])",
+  "instruction_text": "Go past the main entrance and travel down the hall with the large tapestry and into the office with the walnut table and crystal vase on the mantle. ",
+  "num_steps": 110,
+  "total_unique_objects": 505,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 109,
+      "question": "Recall your earlier path. When you passed by the picture in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        459
+      ],
+      "metadata": {
+        "probe_object_id": 459,
+        "probe_category": "picture",
+        "probe_room": "living room",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 51,
+        "num_sightings": 13,
+        "spatial_relation": "right",
+        "object_position": [
+          6.655399799346924,
+          2.3056797981262207,
+          0.8078651428222656
+        ],
+        "agent_position_when_seen": [
+          -0.5057008266448975,
+          0.12049826979637146,
+          0.33376431465148926
+        ],
+        "pixel_centroid_x": 204.88594164456234,
+        "normalized_position_x": 0.6006714190981433,
+        "object_pixel_count": 377,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 110
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 109,
+      "question": "Along your path, did you see the shelving before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        24,
+        256
+      ],
+      "metadata": {
+        "object_A_id": 24,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 256,
+        "object_B_category": "shelving",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 256,
+        "asked_second_object_id": 24
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 13,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) kitchen (C) workout/gym/exercise",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "kitchen",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "laundryroom/mudroom",
+          "kitchen",
+          "workout/gym/exercise"
+        ],
+        "query_timestep_internal": 13,
+        "rooms_visited": [
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen",
+          "living room",
+          "office",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 26,
+      "question": "From your current viewpoint, is the chair to the left or right of the beam?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        365,
+        384
+      ],
+      "metadata": {
+        "object_A_id": 365,
+        "object_A_category": "beam",
+        "object_A_position": [
+          -1.643669843673706,
+          3.086319923400879,
+          6.677820205688477
+        ],
+        "object_B_id": 384,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -1.1256400346755981,
+          0.5383496284484863,
+          5.477779388427734
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -4.53407621383667,
+          0.13922199606895447,
+          3.643047332763672
+        ],
+        "agent_rotation": [
+          -0.9400866627693176,
+          0.0,
+          0.3409356474876404,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 13,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) other room (B) workout/gym/exercise (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "other room",
+        "workout/gym/exercise",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_15",
+        "adjacent_rooms": [
+          "0_12",
+          "0_13",
+          "0_14",
+          "0_16",
+          "0_17"
+        ],
+        "correct_answer_room": "0_17",
+        "all_options": [
+          "other room",
+          "workout/gym/exercise",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "bedroom, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 52,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 52,
+        "current_room": "living room",
+        "landmark_room": "kitchen",
+        "final_room": "office",
+        "remaining_rooms": [
+          "living room",
+          "hallway",
+          "familyroom/lounge",
+          "hallway",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen",
+          "living room",
+          "office",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 109,
+    "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      511
+    ],
+    "metadata": {
+      "probe_object_id": 511,
+      "probe_category": "bed",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_12",
+      "first_seen_timestep": 2,
+      "best_view_timestep": 41,
+      "num_sightings": 48,
+      "spatial_relation": "right",
+      "object_position": [
+        8.374259948730469,
+        0.7814483642578125,
+        -4.703799724578857
+      ],
+      "agent_position_when_seen": [
+        -1.9203429222106934,
+        0.13922199606895447,
+        1.7247703075408936
+      ],
+      "pixel_centroid_x": 230.6654135338346,
+      "normalized_position_x": 0.8020735432330828,
+      "object_pixel_count": 532,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 110
+    }
+  }
+}

test/001311/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 1311,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb",
+  "instruction": "InstructionData(instruction_text='Turn right at the water fountain and enter the main room.  Walk past the marble table in the middle of the room and in between the parallel leather benches.  Walk through the door with the \"exit\" sign and keep going until you are outside. ', instruction_tokens=[2494, 1968, 178, 2389, 2613, 999, 119, 860, 2389, 1445, 1994, 15, 2584, 1728, 2389, 1462, 2342, 1237, 2389, 1506, 1605, 2389, 1994, 119, 1237, 294, 2389, 1711, 1354, 291, 15, 2584, 2418, 2389, 757, 2661, 2389, 4, 888, 4, 2125, 119, 1295, 1071, 2524, 2703, 149, 1665, 15])",
+  "instruction_text": "Turn right at the water fountain and enter the main room.  Walk past the marble table in the middle of the room and in between the parallel leather benches.  Walk through the door with the \"exit\" sign and keep going until you are outside. ",
+  "num_steps": 61,
+  "total_unique_objects": 134,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the picture in the lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        385
+      ],
+      "metadata": {
+        "probe_object_id": 385,
+        "probe_category": "picture",
+        "probe_room": "lounge",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 23,
+        "best_view_timestep": 32,
+        "num_sightings": 8,
+        "spatial_relation": "left",
+        "object_position": [
+          3.170559883117676,
+          1.7431201934814453,
+          -4.556099891662598
+        ],
+        "agent_position_when_seen": [
+          -5.491129398345947,
+          0.07537198066711426,
+          2.2410433292388916
+        ],
+        "pixel_centroid_x": 12.051383399209486,
+        "normalized_position_x": -0.9058485671936759,
+        "object_pixel_count": 253,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the sink before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        26,
+        11
+      ],
+      "metadata": {
+        "object_A_id": 26,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 11,
+        "object_B_category": "sink",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 11,
+        "asked_second_object_id": 26
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 54,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) bathroom (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "bathroom",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "kitchen",
+          "bathroom",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 54,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 19,
+      "question": "From your current viewpoint, is the chair to the left or right of the objects?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        458,
+        459
+      ],
+      "metadata": {
+        "object_A_id": 458,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -1.8513400554656982,
+          0.62260901927948,
+          -0.8478590250015259
+        ],
+        "object_B_id": 459,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -2.652129888534546,
+          0.48774051666259766,
+          5.97598934173584
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -7.8077521324157715,
+          0.07537198066711426,
+          1.4366406202316284
+        ],
+        "agent_rotation": [
+          0.7001392841339111,
+          0.0,
+          -0.7140063047409058,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 27,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) hallway (B) entryway/foyer/lobby (C) bathroom",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_11"
+        ],
+        "correct_answer_room": "0_11",
+        "all_options": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "bathroom"
+        ],
+        "context_rooms": ""
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "hallway",
+        "landmark_room": "lounge",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "stairs",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 47,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) entryway/foyer/lobby (C) bathroom",
+    "answer": "B",
+    "options": [
+      "lounge",
+      "entryway/foyer/lobby",
+      "bathroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "entryway/foyer/lobby",
+      "all_options": [
+        "lounge",
+        "entryway/foyer/lobby",
+        "bathroom"
+      ],
+      "query_timestep_internal": 47,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

test/001316/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 1316,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb",
+  "instruction": "InstructionData(instruction_text='walk through to the hall turn left in hall and enter main room. Turn slight right and enter dining room, stop facing table. ', instruction_tokens=[2584, 2418, 2438, 2389, 1121, 2494, 1360, 1237, 1121, 119, 860, 1445, 1994, 15, 2494, 2162, 1968, 119, 860, 711, 1994, 2278, 906, 2342, 15])",
+  "instruction_text": "walk through to the hall turn left in hall and enter main room. Turn slight right and enter dining room, stop facing table. ",
+  "num_steps": 64,
+  "total_unique_objects": 166,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the objects in the closet, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        386
+      ],
+      "metadata": {
+        "probe_object_id": 386,
+        "probe_category": "objects",
+        "probe_room": "closet",
+        "probe_region_id": "1_19",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 8,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          5.324999809265137,
+          2.8854897022247314,
+          -3.9091899394989014
+        ],
+        "agent_position_when_seen": [
+          5.420779705047607,
+          -5.955618858337402,
+          -3.6961569786071777
+        ],
+        "pixel_centroid_x": 127.87333333333333,
+        "normalized_position_x": -0.0009895833333333215,
+        "object_pixel_count": 150,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 63,
+      "question": "Along your path, did you see the shelving before or after the curtain?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        378,
+        484
+      ],
+      "metadata": {
+        "object_A_id": 378,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 484,
+        "object_B_category": "curtain",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 378,
+        "asked_second_object_id": 484
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 10,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) balcony (B) closet (C) other room",
+      "answer": "C",
+      "options": [
+        "balcony",
+        "closet",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "other room",
+        "all_options": [
+          "balcony",
+          "closet",
+          "other room"
+        ],
+        "query_timestep_internal": 10,
+        "rooms_visited": [
+          "hallway",
+          "meetingroom/conferenceroom",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 20,
+      "question": "From your current viewpoint, is the table to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        472,
+        482
+      ],
+      "metadata": {
+        "object_A_id": 472,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          14.523500442504883,
+          1.9388694763183594,
+          -6.174300193786621
+        ],
+        "object_B_id": 482,
+        "object_B_category": "table",
+        "object_B_position": [
+          10.04170036315918,
+          0.6317586898803711,
+          -5.679780006408691
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          5.835254192352295,
+          -5.955618858337402,
+          -2.895712375640869
+        ],
+        "agent_rotation": [
+          0.6670870184898376,
+          0.0,
+          -0.7449798583984375,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 42,
+      "question": "Based on your exploration and knowledge of the environment, which area is the meetingroom/conferenceroom you see now directly connected to? (A) entryway/foyer/lobby (B) hallway (C) lounge",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_21",
+        "adjacent_rooms": [
+          "1_18",
+          "1_19",
+          "1_20",
+          "1_23"
+        ],
+        "correct_answer_room": "1_18",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "lounge"
+        ],
+        "context_rooms": "closet, meetingroom/conferenceroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 24,
+      "question": "From your current position, will you pass through the meetingroom/conferenceroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 24,
+        "current_room": "hallway",
+        "landmark_room": "meetingroom/conferenceroom",
+        "final_room": "meetingroom/conferenceroom",
+        "remaining_rooms": [
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "meetingroom/conferenceroom",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "other room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 63,
+    "question": "Recall your earlier path. When you passed by the tv_monitor in the meetingroom/conferenceroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      514
+    ],
+    "metadata": {
+      "probe_object_id": 514,
+      "probe_category": "tv_monitor",
+      "probe_room": "meetingroom/conferenceroom",
+      "probe_region_id": "1_21",
+      "first_seen_timestep": 25,
+      "best_view_timestep": 41,
+      "num_sightings": 26,
+      "spatial_relation": "left",
+      "object_position": [
+        15.944799423217773,
+        0.8085191249847412,
+        -2.8170695304870605
+      ],
+      "agent_position_when_seen": [
+        9.60494613647461,
+        -5.955618858337402,
+        -1.2164859771728516
+      ],
+      "pixel_centroid_x": 37.24818181818182,
+      "normalized_position_x": -0.7089985795454545,
+      "object_pixel_count": 1100,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 64
+    }
+  }
+}

test/001378/meta.json

@@ -0,0 +1,186 @@
+{
+  "episode_id": 1378,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb",
+  "instruction": "InstructionData(instruction_text='Turn to the right and walk through the open doorway.  Walk up to the round, wooden table. Walk towards the far right corner of the room. Walk through the narrow hallway and into the next room. ', instruction_tokens=[2494, 2438, 2389, 1968, 119, 2584, 2418, 2389, 1625, 766, 15, 2584, 2527, 2438, 2389, 2005, 2672, 2342, 15, 2584, 2452, 2389, 914, 1968, 589, 1605, 2389, 1994, 15, 2584, 2418, 2389, 1552, 1126, 119, 1264, 2389, 1576, 1994, 15])",
+  "instruction_text": "Turn to the right and walk through the open doorway.  Walk up to the round, wooden table. Walk towards the far right corner of the room. Walk through the narrow hallway and into the next room. ",
+  "num_steps": 69,
+  "total_unique_objects": 165,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 68,
+      "question": "Recall your earlier path. When you passed by the sofa in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        971
+      ],
+      "metadata": {
+        "probe_object_id": 971,
+        "probe_category": "sofa",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_44",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 26,
+        "num_sightings": 20,
+        "spatial_relation": "left",
+        "object_position": [
+          15.806400299072266,
+          -5.495510101318359,
+          -2.641969680786133
+        ],
+        "agent_position_when_seen": [
+          10.62265396118164,
+          0.24438095092773438,
+          12.708917617797852
+        ],
+        "pixel_centroid_x": 5.169184290030212,
+        "normalized_position_x": -0.9596157477341389,
+        "object_pixel_count": 331,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 69
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 68,
+      "question": "Along your path, did you see the curtain before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        43,
+        529
+      ],
+      "metadata": {
+        "object_A_id": 43,
+        "object_A_category": "",
+        "object_A_timestep": 3,
+        "object_B_id": 529,
+        "object_B_category": "curtain",
+        "object_B_timestep": 11,
+        "time_gap": 8,
+        "asked_first_object_id": 529,
+        "asked_second_object_id": 43
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 26,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) other room (C) bathroom",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "other room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "other room",
+          "bathroom"
+        ],
+        "query_timestep_internal": 26,
+        "rooms_visited": [
+          "bedroom",
+          "closet",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 3,
+      "question": "Based on your exploration and knowledge of the environment, which area is the meetingroom/conferenceroom you see now directly connected to? (A) bathroom (B) hallway (C) closet",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "hallway",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_44",
+        "adjacent_rooms": [
+          "0_42",
+          "0_43"
+        ],
+        "correct_answer_room": "0_42",
+        "all_options": [
+          "bathroom",
+          "hallway",
+          "closet"
+        ],
+        "context_rooms": "other room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 14,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "closet",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom",
+          "closet"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 6,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) meetingroom/conferenceroom (B) bathroom (C) closet",
+    "answer": "C",
+    "options": [
+      "meetingroom/conferenceroom",
+      "bathroom",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "closet",
+      "all_options": [
+        "meetingroom/conferenceroom",
+        "bathroom",
+        "closet"
+      ],
+      "query_timestep_internal": 6,
+      "rooms_visited": [
+        "bedroom",
+        "closet",
+        "hallway"
+      ]
+    }
+  }
+}

test/001379/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 1379,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Exit the room going up three stairs. Next head straight down the hallway. Go to the stairway that has glass walls in the middle of the large room. Go down three steps and wait. ', instruction_tokens=[888, 2389, 1994, 1071, 2527, 2415, 2222, 15, 1576, 1162, 2288, 780, 2389, 1126, 15, 1067, 2438, 2389, 2225, 2388, 1156, 1057, 2597, 1237, 2389, 1506, 1605, 2389, 1336, 1994, 15, 1067, 780, 2415, 2265, 119, 2579, 15])",
+  "instruction_text": "Exit the room going up three stairs. Next head straight down the hallway. Go to the stairway that has glass walls in the middle of the large room. Go down three steps and wait. ",
+  "num_steps": 58,
+  "total_unique_objects": 391,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "question": "Recall your earlier path. When you passed by the cabinet in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        539
+      ],
+      "metadata": {
+        "probe_object_id": 539,
+        "probe_category": "cabinet",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 3,
+        "num_sightings": 11,
+        "spatial_relation": "left",
+        "object_position": [
+          -14.964699745178223,
+          0.530052900314331,
+          -2.4804599285125732
+        ],
+        "agent_position_when_seen": [
+          -11.301799774169922,
+          2.5484743118286133,
+          -10.373100280761719
+        ],
+        "pixel_centroid_x": 36.07772020725388,
+        "normalized_position_x": -0.718142810880829,
+        "object_pixel_count": 193,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 58
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 57,
+      "question": "Along your path, did you see the  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        29,
+        1047
+      ],
+      "metadata": {
+        "object_A_id": 29,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 1047,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 29,
+        "asked_second_object_id": 1047
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 40,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) balcony (B) hallway (C) utilityroom/toolroom",
+      "answer": "B",
+      "options": [
+        "balcony",
+        "hallway",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "balcony",
+          "hallway",
+          "utilityroom/toolroom"
+        ],
+        "query_timestep_internal": 40,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 56,
+      "question": "From your current viewpoint, is the table to the left or right of the lighting?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        450,
+        444
+      ],
+      "metadata": {
+        "object_A_id": 450,
+        "object_A_category": "lighting",
+        "object_A_position": [
+          -10.144200325012207,
+          2.101109504699707,
+          4.88530969619751
+        ],
+        "object_B_id": 444,
+        "object_B_category": "table",
+        "object_B_position": [
+          -9.484580039978027,
+          0.4479498863220215,
+          2.6007800102233887
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -11.068761825561523,
+          3.042227268218994,
+          -3.6861205101013184
+        ],
+        "agent_rotation": [
+          0.5321104526519775,
+          0.0,
+          -0.8466750383377075,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 18,
+      "question": "Based on your exploration and knowledge of the environment, which area is the laundryroom/mudroom you see now directly connected to? (A) bathroom (B) entryway/foyer/lobby (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_25",
+        "adjacent_rooms": [
+          "1_14",
+          "1_27",
+          "1_29"
+        ],
+        "correct_answer_room": "1_29",
+        "all_options": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "context_rooms": "kitchen, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 17,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 17,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 57,
+    "question": "Recall your earlier path. When you passed by the cabinet in the familyroom/lounge, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      539
+    ],
+    "metadata": {
+      "probe_object_id": 539,
+      "probe_category": "cabinet",
+      "probe_room": "familyroom/lounge",
+      "probe_region_id": "0_6",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 3,
+      "num_sightings": 11,
+      "spatial_relation": "left",
+      "object_position": [
+        -14.964699745178223,
+        0.530052900314331,
+        -2.4804599285125732
+      ],
+      "agent_position_when_seen": [
+        -11.301799774169922,
+        2.5484743118286133,
+        -10.373100280761719
+      ],
+      "pixel_centroid_x": 36.07772020725388,
+      "normalized_position_x": -0.718142810880829,
+      "object_pixel_count": 193,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 58
+    }
+  }
+}

test/001385/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 1385,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='walk past the medical equipment and draining platform through the door near the wall mirror. Walk into the open room past the tile mosaic on the floor. Walk into the next room that has massage beds with hanging metal bowls above. ', instruction_tokens=[2584, 1728, 2389, 1486, 874, 119, 787, 1820, 2418, 2389, 757, 1563, 2389, 2593, 1515, 15, 2584, 1264, 2389, 1625, 1994, 1728, 2389, 2429, 1529, 1613, 2389, 959, 15, 2584, 1264, 2389, 1576, 1994, 2388, 1156, 1472, 275, 2661, 1149, 1495, 354, 78, 15])",
+  "instruction_text": "walk past the medical equipment and draining platform through the door near the wall mirror. Walk into the open room past the tile mosaic on the floor. Walk into the next room that has massage beds with hanging metal bowls above. ",
+  "num_steps": 66,
+  "total_unique_objects": 133,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "question": "Recall your earlier path. When you passed by the seating in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        541
+      ],
+      "metadata": {
+        "probe_object_id": 541,
+        "probe_category": "seating",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_27",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 11,
+        "num_sightings": 12,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.7636399269104004,
+          0.12878108024597168,
+          3.5357398986816406
+        ],
+        "agent_position_when_seen": [
+          -0.7715034484863281,
+          0.12697899341583252,
+          0.009897470474243164
+        ],
+        "pixel_centroid_x": 145.94920634920635,
+        "normalized_position_x": 0.1402281746031746,
+        "object_pixel_count": 315,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the  before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        524
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 524,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 28,
+        "asked_second_object_id": 524
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 29,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) spa/sauna (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "spa/sauna",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "spa/sauna",
+        "all_options": [
+          "stairs",
+          "spa/sauna",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 9,
+      "question": "From your current viewpoint, is the tv_monitor to the left or right of the lighting?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        521,
+        539
+      ],
+      "metadata": {
+        "object_A_id": 521,
+        "object_A_category": "lighting",
+        "object_A_position": [
+          -4.033959865570068,
+          2.7248597145080566,
+          2.609950542449951
+        ],
+        "object_B_id": 539,
+        "object_B_category": "tv_monitor",
+        "object_B_position": [
+          -3.9992899894714355,
+          1.892359733581543,
+          3.6811397075653076
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -0.2729611098766327,
+          0.12697899341583252,
+          -0.02825385332107544
+        ],
+        "agent_rotation": [
+          -0.6795945167541504,
+          0.0,
+          -0.7335879802703857,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 40,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) toilet (B) spa/sauna (C) office",
+      "answer": "B",
+      "options": [
+        "toilet",
+        "spa/sauna",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_27",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_13"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "toilet",
+          "spa/sauna",
+          "office"
+        ],
+        "context_rooms": "hallway, spa/sauna"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "question": "From your current position, will you pass through the other room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 16,
+        "current_room": "spa/sauna",
+        "landmark_room": "other room",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "spa/sauna",
+          "hallway",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 65,
+    "question": "Along your path, did you see the  before or after the bed?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      28,
+      524
+    ],
+    "metadata": {
+      "object_A_id": 28,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 524,
+      "object_B_category": "bed",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 28,
+      "asked_second_object_id": 524
+    }
+  }
+}

test/001447/meta.json

@@ -0,0 +1,216 @@
+{
+  "episode_id": 1447,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Go straight past the desk then turn left.  Go in the bedroom and then go into the bathroom doorway on the right and wait. ', instruction_tokens=[1067, 2288, 1728, 2389, 692, 2394, 2494, 1360, 15, 1067, 1237, 2389, 273, 119, 2394, 1067, 1264, 2389, 242, 766, 1613, 2389, 1968, 119, 2579, 15])",
+  "instruction_text": "Go straight past the desk then turn left.  Go in the bedroom and then go into the bathroom doorway on the right and wait. ",
+  "num_steps": 39,
+  "total_unique_objects": 52,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 38,
+      "question": "Recall your earlier path. When you passed by the plant in the tv, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        11
+      ],
+      "metadata": {
+        "probe_object_id": 11,
+        "probe_category": "plant",
+        "probe_room": "tv",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -9.223170280456543,
+          0.3989259898662567,
+          0.797950029373169
+        ],
+        "agent_position_when_seen": [
+          -12.511799812316895,
+          0.20332103967666626,
+          -1.1328400373458862
+        ],
+        "pixel_centroid_x": 203.5423197492163,
+        "normalized_position_x": 0.5901743730407523,
+        "object_pixel_count": 319,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 39
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) dining room (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "dining room",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "dining room",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the chair to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        7,
+        5
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "picture",
+        "object_A_position": [
+          -8.580269813537598,
+          1.2955801486968994,
+          -1.8921399116516113
+        ],
+        "object_B_id": 5,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -7.957399845123291,
+          0.5720109939575195,
+          3.4387903213500977
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -12.511799812316895,
+          0.20332103967666626,
+          -1.1328400373458862
+        ],
+        "agent_rotation": [
+          -0.7201961278915405,
+          0.0,
+          0.6937705278396606,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) hallway (B) closet (C) workout/gym/exercise",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "closet",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_1",
+        "adjacent_rooms": [
+          "0_16",
+          "0_2",
+          "0_20",
+          "0_21",
+          "0_22",
+          "0_23",
+          "0_3",
+          "0_4",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_16",
+        "all_options": [
+          "hallway",
+          "closet",
+          "workout/gym/exercise"
+        ],
+        "context_rooms": "living room, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 9,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 5,
+    "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 5,
+      "current_room": "hallway",
+      "landmark_room": "bedroom",
+      "final_room": "bathroom",
+      "remaining_rooms": [
+        "hallway",
+        "bedroom",
+        "bathroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "bedroom",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

test/001498/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 1498,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the living room, away from the patio. Walk through the dining room and to the stairway. Stop at the foot of the stairs. ', instruction_tokens=[2584, 1658, 1605, 2389, 1404, 1994, 187, 1017, 2389, 1737, 15, 2584, 2418, 2389, 711, 1994, 119, 2438, 2389, 2225, 15, 2278, 178, 2389, 980, 1605, 2389, 2222, 15])",
+  "instruction_text": "Walk out of the living room, away from the patio. Walk through the dining room and to the stairway. Stop at the foot of the stairs. ",
+  "num_steps": 70,
+  "total_unique_objects": 368,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 69,
+      "question": "Recall your earlier path. When you passed by the picture in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        416
+      ],
+      "metadata": {
+        "probe_object_id": 416,
+        "probe_category": "picture",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_17",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 2,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          15.47610092163086,
+          1.8017196655273438,
+          8.99232006072998
+        ],
+        "agent_position_when_seen": [
+          16.396499633789062,
+          0.0985403060913086,
+          8.610400199890137
+        ],
+        "pixel_centroid_x": 205.41152263374485,
+        "normalized_position_x": 0.6047775205761317,
+        "object_pixel_count": 243,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 70
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 69,
+      "question": "Along your path, did you see the bed before or after the chest_of_drawers?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        64
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 64,
+        "object_B_category": "chest_of_drawers",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 64
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 12,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) entryway/foyer/lobby (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 12,
+        "rooms_visited": [
+          "dining room",
+          "familyroom/lounge",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 65,
+      "question": "From your current viewpoint, is the shower to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        515,
+        336
+      ],
+      "metadata": {
+        "object_A_id": 515,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          4.306570053100586,
+          0.977622926235199,
+          6.453760147094727
+        ],
+        "object_B_id": 336,
+        "object_B_category": "shower",
+        "object_B_position": [
+          4.227540016174316,
+          1.3725299835205078,
+          0.25088798999786377
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          5.787876129150391,
+          0.028255999088287354,
+          6.009764194488525
+        ],
+        "agent_rotation": [
+          -0.8978264331817627,
+          0.0,
+          -0.4403495788574219,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) bathroom (B) balcony (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "balcony",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_20",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_16"
+        ],
+        "correct_answer_room": "0_11",
+        "all_options": [
+          "bathroom",
+          "balcony",
+          "hallway"
+        ],
+        "context_rooms": "dining room, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 32,
+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 32,
+        "current_room": "dining room",
+        "landmark_room": "stairs",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "dining room",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 69,
+    "question": "Along your path, did you see the chest_of_drawers before or after the bed?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      1,
+      64
+    ],
+    "metadata": {
+      "object_A_id": 1,
+      "object_A_category": "bed",
+      "object_A_timestep": 0,
+      "object_B_id": 64,
+      "object_B_category": "chest_of_drawers",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 64,
+      "asked_second_object_id": 1
+    }
+  }
+}

test/001500/meta.json

@@ -0,0 +1,225 @@
+{
+  "episode_id": 1500,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Exit the door to your right and walk past the entire railing.  Stop in the middle of the first doorway you enter. ', instruction_tokens=[888, 2389, 757, 2438, 2706, 1968, 119, 2584, 1728, 2389, 866, 1910, 15, 2278, 1237, 2389, 1506, 1605, 2389, 946, 766, 2703, 860, 15])",
+  "instruction_text": "Exit the door to your right and walk past the entire railing.  Stop in the middle of the first doorway you enter. ",
+  "num_steps": 54,
+  "total_unique_objects": 102,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "question": "Recall your earlier path. When you passed by the shower in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        14
+      ],
+      "metadata": {
+        "probe_object_id": 14,
+        "probe_category": "shower",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 40,
+        "num_sightings": 15,
+        "spatial_relation": "left",
+        "object_position": [
+          -5.204860210418701,
+          -1.237959861755371,
+          6.451720237731934
+        ],
+        "agent_position_when_seen": [
+          -8.686226844787598,
+          3.151840925216675,
+          5.7240400314331055
+        ],
+        "pixel_centroid_x": 19.354166666666668,
+        "normalized_position_x": -0.8487955729166666,
+        "object_pixel_count": 624,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 54
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 53,
+      "question": "Along your path, did you see the shower before or after the counter?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        14,
+        21
+      ],
+      "metadata": {
+        "object_A_id": 14,
+        "object_A_category": "shower",
+        "object_A_timestep": 14,
+        "object_B_id": 21,
+        "object_B_category": "counter",
+        "object_B_timestep": 17,
+        "time_gap": 3,
+        "asked_first_object_id": 14,
+        "asked_second_object_id": 21
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 25,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) other room (C) stairs",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "other room",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "other room",
+          "stairs"
+        ],
+        "query_timestep_internal": 25,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 36,
+      "question": "From your current viewpoint, is the shower to the left or right of the beam?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        30,
+        14
+      ],
+      "metadata": {
+        "object_A_id": 30,
+        "object_A_category": "beam",
+        "object_A_position": [
+          -2.3206801414489746,
+          -0.4407479763031006,
+          2.008009910583496
+        ],
+        "object_B_id": 14,
+        "object_B_category": "shower",
+        "object_B_position": [
+          -5.204860210418701,
+          -1.237959861755371,
+          6.451720237731934
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -9.678227424621582,
+          3.151840925216675,
+          5.850274085998535
+        ],
+        "agent_rotation": [
+          -0.7504110932350159,
+          0.0,
+          0.6609714031219482,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 36,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) tv (B) familyroom/lounge (C) stairs",
+      "answer": "A",
+      "options": [
+        "tv",
+        "familyroom/lounge",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_2",
+          "0_3"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "tv",
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 19,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) familyroom/lounge (C) hallway",
+    "answer": "C",
+    "options": [
+      "office",
+      "familyroom/lounge",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "office",
+        "familyroom/lounge",
+        "hallway"
+      ],
+      "query_timestep_internal": 19,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/001531/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 1531,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/vyrNrziPKCB/vyrNrziPKCB.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the door into the living room. Walk past the fireplace toward the entryway with stairs. Walk to the stairs and stop on the 2nd stair. ', instruction_tokens=[2584, 2418, 2389, 757, 1264, 2389, 1404, 1994, 15, 2584, 1728, 2389, 942, 2451, 2389, 872, 2661, 2222, 15, 2584, 2438, 2389, 2222, 119, 2278, 1613, 2389, 40, 2219, 15])",
+  "instruction_text": "Walk through the door into the living room. Walk past the fireplace toward the entryway with stairs. Walk to the stairs and stop on the 2nd stair. ",
+  "num_steps": 80,
+  "total_unique_objects": 1042,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 79,
+      "question": "Recall your earlier path. When you passed by the picture in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1809
+      ],
+      "metadata": {
+        "probe_object_id": 1809,
+        "probe_category": "picture",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_64",
+        "first_seen_timestep": 52,
+        "best_view_timestep": 72,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          9.957639694213867,
+          1.9622299671173096,
+          -3.5188398361206055
+        ],
+        "agent_position_when_seen": [
+          6.921866416931152,
+          0.19856905937194824,
+          9.864091873168945
+        ],
+        "pixel_centroid_x": 245.12333333333333,
+        "normalized_position_x": 0.9150260416666667,
+        "object_pixel_count": 300,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 80
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 79,
+      "question": "Along your path, did you see the railing before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        19,
+        100
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "",
+        "object_A_timestep": 4,
+        "object_B_id": 100,
+        "object_B_category": "railing",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 100,
+        "asked_second_object_id": 19
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 41,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) workout/gym/exercise (B) living room (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "workout/gym/exercise",
+        "living room",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "workout/gym/exercise",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 41,
+        "rooms_visited": [
+          "hallway",
+          "living room",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 57,
+      "question": "From your current viewpoint, is the lighting to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        863,
+        688
+      ],
+      "metadata": {
+        "object_A_id": 863,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          3.258430004119873,
+          2.3757004737854004,
+          -4.400989532470703
+        ],
+        "object_B_id": 688,
+        "object_B_category": "lighting",
+        "object_B_position": [
+          -5.535309791564941,
+          3.2669105529785156,
+          22.952199935913086
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          9.01391315460205,
+          0.19856905937194824,
+          11.994382858276367
+        ],
+        "agent_rotation": [
+          0.9335899949073792,
+          0.0,
+          0.3583429455757141,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 38,
+      "question": "Based on your exploration and knowledge of the environment, which area is the workout/gym/exercise you see now directly connected to? (A) stairs (B) tv (C) living room",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "tv",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_22",
+        "adjacent_rooms": [
+          "0_23",
+          "0_25",
+          "0_46",
+          "0_48",
+          "0_49"
+        ],
+        "correct_answer_room": "0_48",
+        "all_options": [
+          "stairs",
+          "tv",
+          "living room"
+        ],
+        "context_rooms": "kitchen, laundryroom/mudroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 30,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 30,
+        "current_room": "living room",
+        "landmark_room": "hallway",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "living room",
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "living room",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 56,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) workout/gym/exercise (C) rec/game",
+    "answer": "A",
+    "options": [
+      "living room",
+      "workout/gym/exercise",
+      "rec/game"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "living room",
+      "all_options": [
+        "living room",
+        "workout/gym/exercise",
+        "rec/game"
+      ],
+      "query_timestep_internal": 56,
+      "rooms_visited": [
+        "hallway",
+        "living room",
+        "stairs"
+      ]
+    }
+  }
+}