Add files using upload-large-folder tool

test/000311/meta.json

@@ -0,0 +1,182 @@
+{
+  "episode_id": 311,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway passed the hanging wall art. Continue down the hallway past the laundry room and stop at the wooden cabinets on the right of the hallway. ', instruction_tokens=[2584, 780, 2389, 1126, 1725, 2389, 1149, 2593, 165, 15, 569, 780, 2389, 1126, 1728, 2389, 1343, 1994, 119, 2278, 178, 2389, 2672, 409, 1613, 2389, 1968, 1605, 2389, 1126, 15])",
+  "instruction_text": "Walk down the hallway passed the hanging wall art. Continue down the hallway past the laundry room and stop at the wooden cabinets on the right of the hallway. ",
+  "num_steps": 39,
+  "total_unique_objects": 275,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 38,
+      "question": "Recall your earlier path. When you passed by the toilet in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        328
+      ],
+      "metadata": {
+        "probe_object_id": 328,
+        "probe_category": "toilet",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_13",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          3.531049966812134,
+          0.4694649577140808,
+          1.3529701232910156
+        ],
+        "agent_position_when_seen": [
+          4.314169883728027,
+          3.628255844116211,
+          4.317780017852783
+        ],
+        "pixel_centroid_x": 59.965,
+        "normalized_position_x": -0.5315234375,
+        "object_pixel_count": 200,
+        "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 bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        485
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 485,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 485,
+        "asked_second_object_id": 1
+      }
+    },
+    {
+      "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) kitchen (B) bedroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "bedroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 6,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the curtain?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        4,
+        492
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          20.026500701904297,
+          4.853789329528809,
+          5.9038801193237305
+        ],
+        "object_B_id": 492,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          14.117400169372559,
+          0.44148004055023193,
+          1.1867400407791138
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          8.561034202575684,
+          3.628255844116211,
+          4.4809746742248535
+        ],
+        "agent_rotation": [
+          0.6933981776237488,
+          0.0,
+          -0.7205546498298645,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 38,
+    "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": [
+      293
+    ],
+    "metadata": {
+      "probe_object_id": 293,
+      "probe_category": "picture",
+      "probe_room": "hallway",
+      "probe_region_id": "0_11",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 2,
+      "num_sightings": 4,
+      "spatial_relation": "left",
+      "object_position": [
+        6.035930156707764,
+        1.499979853630066,
+        2.783329963684082
+      ],
+      "agent_position_when_seen": [
+        4.314169883728027,
+        3.628255844116211,
+        4.317780017852783
+      ],
+      "pixel_centroid_x": 50.994594594594595,
+      "normalized_position_x": -0.6016047297297298,
+      "object_pixel_count": 185,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 39
+    }
+  }
+}

test/000312/meta.json

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+{
+  "episode_id": 312,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hall.  Keep  going until you get to the brown closet doors on the right.  Then you will stop and wait. ', instruction_tokens=[2584, 780, 2389, 1121, 15, 1295, 1071, 2524, 2703, 1046, 2438, 2389, 374, 521, 762, 1613, 2389, 1968, 15, 2394, 2703, 2648, 2278, 119, 2579, 15])",
+  "instruction_text": "Walk down the hall.  Keep  going until you get to the brown closet doors on the right.  Then you will stop and wait. ",
+  "num_steps": 39,
+  "total_unique_objects": 275,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 38,
+      "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": [
+        307
+      ],
+      "metadata": {
+        "probe_object_id": 307,
+        "probe_category": "picture",
+        "probe_room": "dining room",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 3,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
+          6.6068501472473145,
+          1.5055296421051025,
+          2.7871599197387695
+        ],
+        "agent_position_when_seen": [
+          4.314169883728027,
+          3.628255844116211,
+          4.317780017852783
+        ],
+        "pixel_centroid_x": 17.194539249146757,
+        "normalized_position_x": -0.865667662116041,
+        "object_pixel_count": 293,
+        "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 bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        485
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 485,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 485,
+        "asked_second_object_id": 1
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 34,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) hallway (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 34,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 17,
+      "question": "From your current viewpoint, is the sofa to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        4,
+        419
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          20.026500701904297,
+          4.853789329528809,
+          5.9038801193237305
+        ],
+        "object_B_id": 419,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          15.884401321411133,
+          0.38254690170288086,
+          7.251150131225586
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          7.062139987945557,
+          3.628255844116211,
+          4.423376560211182
+        ],
+        "agent_rotation": [
+          0.6933981776237488,
+          0.0,
+          -0.7205546498298645,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 5,
+    "question": "From your current viewpoint, is the tv_monitor to the left or right of the cabinet?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      492,
+      457
+    ],
+    "metadata": {
+      "object_A_id": 492,
+      "object_A_category": "cabinet",
+      "object_A_position": [
+        14.117400169372559,
+        0.44148004055023193,
+        1.1867400407791138
+      ],
+      "object_B_id": 457,
+      "object_B_category": "tv_monitor",
+      "object_B_position": [
+        10.863900184631348,
+        1.5475099086761475,
+        0.7286809682846069
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        4.314169883728027,
+        3.628255844116211,
+        4.317780017852783
+      ],
+      "agent_rotation": [
+        0.7815172672271729,
+        0.0,
+        -0.6238835453987122,
+        0.0
+      ]
+    }
+  }
+}

test/000380/meta.json

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+{
+  "episode_id": 380,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VLzqgDo317F/VLzqgDo317F.glb",
+  "instruction": "InstructionData(instruction_text='Turn to the left and climb over the rope.  Go down the hallway.  Jump over the rope on the right side at the end of the hallway.  Wait right there by the fireplace. ', instruction_tokens=[2494, 2438, 2389, 1360, 119, 513, 1669, 2389, 1997, 15, 1067, 780, 2389, 1126, 15, 1291, 1669, 2389, 1997, 1613, 2389, 1968, 2121, 178, 2389, 851, 1605, 2389, 1126, 15, 2579, 1968, 2395, 404, 2389, 942, 15])",
+  "instruction_text": "Turn to the left and climb over the rope.  Go down the hallway.  Jump over the rope on the right side at the end of the hallway.  Wait right there by the fireplace. ",
+  "num_steps": 78,
+  "total_unique_objects": 500,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "question": "Recall your earlier path. When you passed by the furniture in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        595
+      ],
+      "metadata": {
+        "probe_object_id": 595,
+        "probe_category": "furniture",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "1_19",
+        "first_seen_timestep": 10,
+        "best_view_timestep": 10,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          10.145500183105469,
+          4.561399936676025,
+          8.519121170043945
+        ],
+        "agent_position_when_seen": [
+          0.8787609934806824,
+          3.182568311691284,
+          11.337200164794922
+        ],
+        "pixel_centroid_x": 243.575,
+        "normalized_position_x": 0.9029296874999999,
+        "object_pixel_count": 120,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 78
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 77,
+      "question": "Along your path, did you see the mirror before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        227,
+        24
+      ],
+      "metadata": {
+        "object_A_id": 227,
+        "object_A_category": "curtain",
+        "object_A_timestep": 4,
+        "object_B_id": 24,
+        "object_B_category": "mirror",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 24,
+        "asked_second_object_id": 227
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 71,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) junk (C) meetingroom/conferenceroom",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "junk",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "meetingroom/conferenceroom",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "junk",
+          "meetingroom/conferenceroom"
+        ],
+        "query_timestep_internal": 71,
+        "rooms_visited": [
+          "hallway",
+          "meetingroom/conferenceroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 39,
+      "question": "You are currently in the hallway, and you can see the meetingroom/conferenceroom, meetingroom/conferenceroom. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) stairs (B) junk (C) meetingroom/conferenceroom",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "junk",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_5",
+        "adjacent_rooms": [
+          "1_0",
+          "1_1",
+          "1_14",
+          "1_19",
+          "1_2",
+          "1_3"
+        ],
+        "correct_answer_room": "1_3",
+        "all_options": [
+          "stairs",
+          "junk",
+          "meetingroom/conferenceroom"
+        ],
+        "context_rooms": "meetingroom/conferenceroom, meetingroom/conferenceroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "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": 5,
+        "current_room": "meetingroom/conferenceroom",
+        "landmark_room": "hallway",
+        "final_room": "meetingroom/conferenceroom",
+        "remaining_rooms": [
+          "meetingroom/conferenceroom",
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "meetingroom/conferenceroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 77,
+    "question": "Recall your earlier path. When you passed by the furniture in the meetingroom/conferenceroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      595
+    ],
+    "metadata": {
+      "probe_object_id": 595,
+      "probe_category": "furniture",
+      "probe_room": "meetingroom/conferenceroom",
+      "probe_region_id": "1_19",
+      "first_seen_timestep": 10,
+      "best_view_timestep": 10,
+      "num_sightings": 5,
+      "spatial_relation": "right",
+      "object_position": [
+        10.145500183105469,
+        4.561399936676025,
+        8.519121170043945
+      ],
+      "agent_position_when_seen": [
+        0.8787609934806824,
+        3.182568311691284,
+        11.337200164794922
+      ],
+      "pixel_centroid_x": 243.575,
+      "normalized_position_x": 0.9029296874999999,
+      "object_pixel_count": 120,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 78
+    }
+  }
+}

test/000388/meta.json

@@ -0,0 +1,240 @@
+{
+  "episode_id": 388,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='Leave the bathroom and walk through the office and into the hallway. Walk through the hall and into the living room, and stop once you reach the right edge of the rug. ', instruction_tokens=[1355, 2389, 242, 119, 2584, 2418, 2389, 1607, 119, 1264, 2389, 1126, 15, 2584, 2418, 2389, 1121, 119, 1264, 2389, 1404, 1994, 119, 2278, 1615, 2703, 1920, 2389, 1968, 825, 1605, 2389, 2010, 15])",
+  "instruction_text": "Leave the bathroom and walk through the office and into the hallway. Walk through the hall and into the living room, and stop once you reach the right edge of the rug. ",
+  "num_steps": 49,
+  "total_unique_objects": 188,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "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": [
+        247
+      ],
+      "metadata": {
+        "probe_object_id": 247,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_13",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 17,
+        "num_sightings": 19,
+        "spatial_relation": "right",
+        "object_position": [
+          9.64568042755127,
+          0.8090079426765442,
+          0.8937619924545288
+        ],
+        "agent_position_when_seen": [
+          12.05631160736084,
+          -2.833367109298706,
+          0.9628505706787109
+        ],
+        "pixel_centroid_x": 126.58026755852843,
+        "normalized_position_x": -0.011091659698996614,
+        "object_pixel_count": 2392,
+        "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 shower before or after the furniture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        83,
+        74
+      ],
+      "metadata": {
+        "object_A_id": 83,
+        "object_A_category": "shower",
+        "object_A_timestep": 0,
+        "object_B_id": 74,
+        "object_B_category": "furniture",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 83,
+        "asked_second_object_id": 74
+      }
+    },
+    {
+      "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) bedroom (B) familyroom/lounge (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "familyroom/lounge",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "bedroom",
+          "familyroom/lounge",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 48,
+        "rooms_visited": [
+          "bathroom",
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the shelving to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        256,
+        302
+      ],
+      "metadata": {
+        "object_A_id": 256,
+        "object_A_category": "table",
+        "object_A_position": [
+          8.812190055847168,
+          0.42574697732925415,
+          -0.1453249454498291
+        ],
+        "object_B_id": 302,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          5.88306999206543,
+          1.1403799057006836,
+          1.5040398836135864
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          10.804762840270996,
+          -2.7785708904266357,
+          0.13603782653808594
+        ],
+        "agent_rotation": [
+          -0.880683958530426,
+          0.0,
+          -0.4737043082714081,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 13,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) lounge (B) kitchen (C) closet",
+      "answer": "A",
+      "options": [
+        "lounge",
+        "kitchen",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_26",
+        "adjacent_rooms": [
+          "0_1",
+          "0_3",
+          "0_5"
+        ],
+        "correct_answer_room": "0_3",
+        "all_options": [
+          "lounge",
+          "kitchen",
+          "closet"
+        ],
+        "context_rooms": "familyroom/lounge, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "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": 15,
+        "current_room": "lounge",
+        "landmark_room": "bathroom",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "lounge",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 20,
+    "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": 20,
+      "current_room": "lounge",
+      "landmark_room": "hallway",
+      "final_room": "familyroom/lounge",
+      "remaining_rooms": [
+        "lounge",
+        "hallway",
+        "familyroom/lounge"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "familyroom/lounge",
+        "hallway",
+        "lounge"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "bathroom",
+        "lounge"
+      ]
+    }
+  }
+}

test/000465/meta.json

@@ -0,0 +1,211 @@
+{
+  "episode_id": 465,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='step into open doorway.  walk to the far right hand corner of the floor tile design. go right to end of hallway.  make a left into the spa room and wait. ', instruction_tokens=[2260, 1264, 1625, 766, 15, 2584, 2438, 2389, 914, 1968, 1135, 589, 1605, 2389, 959, 2429, 691, 15, 1067, 1968, 2438, 851, 1605, 1126, 15, 1446, 73, 1360, 1264, 2389, 2192, 1994, 119, 2579, 15])",
+  "instruction_text": "step into open doorway.  walk to the far right hand corner of the floor tile design. go right to end of hallway.  make a left into the spa room and wait. ",
+  "num_steps": 64,
+  "total_unique_objects": 185,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "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": 3,
+        "best_view_timestep": 21,
+        "num_sightings": 24,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.7636399269104004,
+          0.12878108024597168,
+          3.5357398986816406
+        ],
+        "agent_position_when_seen": [
+          -3.818972110748291,
+          0.12697899341583252,
+          -5.672057628631592
+        ],
+        "pixel_centroid_x": 22.006410256410255,
+        "normalized_position_x": -0.8280749198717949,
+        "object_pixel_count": 624,
+        "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 shower before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        149
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 149,
+        "object_B_category": "shower",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 149,
+        "asked_second_object_id": 28
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 42,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) other room (C) office",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "other room",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "other room",
+          "office"
+        ],
+        "query_timestep_internal": 42,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 31,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        261,
+        268
+      ],
+      "metadata": {
+        "object_A_id": 261,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -7.200809955596924,
+          0.38229888677597046,
+          1.0135300159454346
+        ],
+        "object_B_id": 268,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -7.580949783325195,
+          0.60086989402771,
+          3.3248796463012695
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -5.244061470031738,
+          0.12697899341583252,
+          -3.940716505050659
+        ],
+        "agent_rotation": [
+          -0.44467243552207947,
+          0.0,
+          -0.895693302154541,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 48,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) bathroom (B) toilet (C) hallway",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "toilet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_4",
+          "0_6"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "bathroom",
+          "toilet",
+          "hallway"
+        ],
+        "context_rooms": "spa/sauna"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 21,
+    "question": "From your current viewpoint, is the tv_monitor to the left or right of the cabinet?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      537,
+      539
+    ],
+    "metadata": {
+      "object_A_id": 537,
+      "object_A_category": "cabinet",
+      "object_A_position": [
+        -5.011760234832764,
+        0.6483237743377686,
+        3.4939498901367188
+      ],
+      "object_B_id": 539,
+      "object_B_category": "tv_monitor",
+      "object_B_position": [
+        -3.9992899894714355,
+        1.892359733581543,
+        3.6811397075653076
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -3.818972110748291,
+        0.12697899341583252,
+        -5.672057628631592
+      ],
+      "agent_rotation": [
+        -0.3239567279815674,
+        0.0,
+        -0.9460718631744385,
+        0.0
+      ]
+    }
+  }
+}

test/000489/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 489,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Turn right down a long tiled hallway and walk towards the door. Turn right just before you reach the end, and look into the office. Wait. ', instruction_tokens=[2494, 1968, 780, 73, 1418, 2430, 1126, 119, 2584, 2452, 2389, 757, 15, 2494, 1968, 1293, 281, 2703, 1920, 2389, 851, 119, 1420, 1264, 2389, 1607, 15, 2579, 15])",
+  "instruction_text": "Turn right down a long tiled hallway and walk towards the door. Turn right just before you reach the end, and look into the office. Wait. ",
+  "num_steps": 51,
+  "total_unique_objects": 432,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        70
+      ],
+      "metadata": {
+        "probe_object_id": 70,
+        "probe_category": "tv_monitor",
+        "probe_room": "living room",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 25,
+        "best_view_timestep": 31,
+        "num_sightings": 5,
+        "spatial_relation": "left",
+        "object_position": [
+          1.657729983329773,
+          2.4701995849609375,
+          5.7350592613220215
+        ],
+        "agent_position_when_seen": [
+          1.8921945095062256,
+          0.003321051597595215,
+          -14.649866104125977
+        ],
+        "pixel_centroid_x": 29.186206896551724,
+        "normalized_position_x": -0.7719827586206897,
+        "object_pixel_count": 145,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 51
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 50,
+      "question": "Along your path, did you see the chair before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        45
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 45,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 45
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 45,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) entryway/foyer/lobby (C) kitchen",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "entryway/foyer/lobby",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "kitchen"
+        ],
+        "query_timestep_internal": 45,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "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) closet (B) tv (C) office",
+      "answer": "B",
+      "options": [
+        "closet",
+        "tv",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_21",
+          "0_23"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "closet",
+          "tv",
+          "office"
+        ],
+        "context_rooms": "hallway, other room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 14,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) tv (B) closet (C) hallway",
+    "answer": "C",
+    "options": [
+      "tv",
+      "closet",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "tv",
+        "closet",
+        "hallway"
+      ],
+      "query_timestep_internal": 0,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "hallway"
+      ]
+    }
+  }
+}

test/000509/meta.json

@@ -0,0 +1,249 @@
+{
+  "episode_id": 509,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
+  "instruction": "InstructionData(instruction_text='Follow the path marked by blue dots into the kitchen. ', instruction_tokens=[972, 2389, 1734, 1466, 404, 324, 773, 1264, 2389, 1306, 15])",
+  "instruction_text": "Follow the path marked by blue dots into the kitchen. ",
+  "num_steps": 105,
+  "total_unique_objects": 287,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 104,
+      "question": "Recall your earlier path. When you passed by the picture in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        438
+      ],
+      "metadata": {
+        "probe_object_id": 438,
+        "probe_category": "picture",
+        "probe_room": "hallway",
+        "probe_region_id": "1_21",
+        "first_seen_timestep": 62,
+        "best_view_timestep": 64,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          9.55447006225586,
+          1.6535000801086426,
+          -4.587790012359619
+        ],
+        "agent_position_when_seen": [
+          0.9065483808517456,
+          0.10846763849258423,
+          -4.054623603820801
+        ],
+        "pixel_centroid_x": 247.2218309859155,
+        "normalized_position_x": 0.9314205545774648,
+        "object_pixel_count": 284,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 105
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 104,
+      "question": "Along your path, did you see the chair before or after the chair?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        574,
+        30
+      ],
+      "metadata": {
+        "object_A_id": 574,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 30,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 30,
+        "asked_second_object_id": 574
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 68,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) kitchen (C) closet",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "kitchen",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "familyroom/lounge",
+          "kitchen",
+          "closet"
+        ],
+        "query_timestep_internal": 68,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 57,
+      "question": "From your current viewpoint, is the picture to the left or right of the mirror?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        529,
+        537
+      ],
+      "metadata": {
+        "object_A_id": 529,
+        "object_A_category": "mirror",
+        "object_A_position": [
+          3.2132999897003174,
+          1.2687201499938965,
+          -0.4850510358810425
+        ],
+        "object_B_id": 537,
+        "object_B_category": "picture",
+        "object_B_position": [
+          6.954529762268066,
+          1.6358599662780762,
+          1.0050301551818848
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -0.7775064706802368,
+          0.011268138885498047,
+          -3.5787463188171387
+        ],
+        "agent_rotation": [
+          -0.797474205493927,
+          0.0,
+          0.6033531427383423,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 43,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) garage (B) dining room (C) kitchen",
+      "answer": "B",
+      "options": [
+        "garage",
+        "dining room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_20",
+        "adjacent_rooms": [
+          "1_26",
+          "1_27",
+          "1_29"
+        ],
+        "correct_answer_room": "1_27",
+        "all_options": [
+          "garage",
+          "dining room",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 52,
+      "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": 52,
+        "current_room": "living room",
+        "landmark_room": "hallway",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "living room",
+          "kitchen",
+          "hallway",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 61,
+    "question": "From your current viewpoint, is the picture to the left or right of the mirror?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      529,
+      537
+    ],
+    "metadata": {
+      "object_A_id": 529,
+      "object_A_category": "mirror",
+      "object_A_position": [
+        3.2132999897003174,
+        1.2687201499938965,
+        -0.4850510358810425
+      ],
+      "object_B_id": 537,
+      "object_B_category": "picture",
+      "object_B_position": [
+        6.954529762268066,
+        1.6358599662780762,
+        1.0050301551818848
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        0.184810608625412,
+        0.2107636034488678,
+        -3.8506760597229004
+      ],
+      "agent_rotation": [
+        -0.797474205493927,
+        0.0,
+        0.6033531427383423,
+        0.0
+      ]
+    }
+  }
+}

test/000511/meta.json

@@ -0,0 +1,245 @@
+{
+  "episode_id": 511,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
+  "instruction": "InstructionData(instruction_text='Walk into the house and past the living room hearing into the kitchen. In the kitchen take the left into the room with the stove and the open window to the patio. Stop in front of the sink. ', instruction_tokens=[2584, 1264, 2389, 1213, 119, 1728, 2389, 1404, 1994, 1169, 1264, 2389, 1306, 15, 1237, 2389, 1306, 2352, 2389, 1360, 1264, 2389, 1994, 2661, 2389, 2284, 119, 2389, 1625, 2652, 2438, 2389, 1737, 15, 2278, 1237, 1019, 1605, 2389, 2132, 15])",
+  "instruction_text": "Walk into the house and past the living room hearing into the kitchen. In the kitchen take the left into the room with the stove and the open window to the patio. Stop in front of the sink. ",
+  "num_steps": 105,
+  "total_unique_objects": 287,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 104,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        189
+      ],
+      "metadata": {
+        "probe_object_id": 189,
+        "probe_category": "tv_monitor",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_10",
+        "first_seen_timestep": 80,
+        "best_view_timestep": 81,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          12.416199684143066,
+          1.7178800106048584,
+          -3.3870296478271484
+        ],
+        "agent_position_when_seen": [
+          4.1283464431762695,
+          0.030816465616226196,
+          -5.973611831665039
+        ],
+        "pixel_centroid_x": 247.05612244897958,
+        "normalized_position_x": 0.930125956632653,
+        "object_pixel_count": 196,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 105
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 104,
+      "question": "Along your path, did you see the chair before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        574,
+        30
+      ],
+      "metadata": {
+        "object_A_id": 574,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 30,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 574,
+        "asked_second_object_id": 30
+      }
+    },
+    {
+      "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) rec/game (B) stairs (C) living room",
+      "answer": "C",
+      "options": [
+        "rec/game",
+        "stairs",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "rec/game",
+          "stairs",
+          "living room"
+        ],
+        "query_timestep_internal": 38,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 44,
+      "question": "From your current viewpoint, is the mirror to the left or right of the ?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        34,
+        529
+      ],
+      "metadata": {
+        "object_A_id": 34,
+        "object_A_category": "",
+        "object_A_position": [
+          1.5327301025390625,
+          0.10598278045654297,
+          -14.120899200439453
+        ],
+        "object_B_id": 529,
+        "object_B_category": "mirror",
+        "object_B_position": [
+          3.2132999897003174,
+          1.2687201499938965,
+          -0.4850510358810425
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -3.2114920616149902,
+          0.07949994504451752,
+          -3.092670440673828
+        ],
+        "agent_rotation": [
+          -0.7118982672691345,
+          0.0,
+          0.7022826075553894,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 48,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) laundryroom/mudroom (B) kitchen (C) office",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "kitchen",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_24",
+        "adjacent_rooms": [
+          "1_22",
+          "1_23",
+          "1_29",
+          "1_31",
+          "1_32",
+          "1_33"
+        ],
+        "correct_answer_room": "1_22",
+        "all_options": [
+          "laundryroom/mudroom",
+          "kitchen",
+          "office"
+        ],
+        "context_rooms": "kitchen, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 31,
+      "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": 31,
+        "current_room": "living room",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "living room",
+          "kitchen",
+          "hallway",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 31,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) stairs (B) hallway (C) dining room",
+    "answer": "B",
+    "options": [
+      "stairs",
+      "hallway",
+      "dining room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_21",
+      "adjacent_rooms": [
+        "1_10",
+        "1_11",
+        "1_13",
+        "1_14",
+        "1_15",
+        "1_16",
+        "1_22",
+        "1_23",
+        "1_26",
+        "1_8",
+        "1_9"
+      ],
+      "correct_answer_room": "1_26",
+      "all_options": [
+        "stairs",
+        "hallway",
+        "dining room"
+      ],
+      "context_rooms": "bedroom, bedroom"
+    }
+  }
+}

test/000614/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 614,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/8WUmhLawc2A/8WUmhLawc2A.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the bathroom door into the hallway with red wall art. Walk through the entry into the kitchen area. Walk passed the counter tops and refrigerator and continue up to the rustic dining table ahead. ', instruction_tokens=[2584, 1658, 1605, 2389, 242, 757, 1264, 2389, 1126, 2661, 1939, 2593, 165, 15, 2584, 2418, 2389, 871, 1264, 2389, 1306, 150, 15, 2584, 1725, 2389, 598, 2447, 119, 1946, 119, 569, 2527, 2438, 2389, 2016, 711, 2342, 98, 15])",
+  "instruction_text": "Walk out of the bathroom door into the hallway with red wall art. Walk through the entry into the kitchen area. Walk passed the counter tops and refrigerator and continue up to the rustic dining table ahead. ",
+  "num_steps": 41,
+  "total_unique_objects": 93,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 40,
+      "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": [
+        444
+      ],
+      "metadata": {
+        "probe_object_id": 444,
+        "probe_category": "chest_of_drawers",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_13",
+        "first_seen_timestep": 25,
+        "best_view_timestep": 28,
+        "num_sightings": 8,
+        "spatial_relation": "left",
+        "object_position": [
+          -20.65089988708496,
+          0.6202325820922852,
+          -10.901599884033203
+        ],
+        "agent_position_when_seen": [
+          -7.327462196350098,
+          0.10065700113773346,
+          -6.67271614074707
+        ],
+        "pixel_centroid_x": 66.97883597883597,
+        "normalized_position_x": -0.47672784391534395,
+        "object_pixel_count": 189,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 41
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 40,
+      "question": "Along your path, did you see the mirror before or after the shower?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        40,
+        465
+      ],
+      "metadata": {
+        "object_A_id": 40,
+        "object_A_category": "shower",
+        "object_A_timestep": 4,
+        "object_B_id": 465,
+        "object_B_category": "mirror",
+        "object_B_timestep": 11,
+        "time_gap": 7,
+        "asked_first_object_id": 465,
+        "asked_second_object_id": 40
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 24,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) kitchen (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "closet",
+        "kitchen",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "closet",
+          "kitchen",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 24,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 22,
+      "question": "From your current viewpoint, is the beam to the left or right of the shower?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        40,
+        317
+      ],
+      "metadata": {
+        "object_A_id": 40,
+        "object_A_category": "shower",
+        "object_A_position": [
+          -11.430999755859375,
+          1.3049700260162354,
+          3.2139699459075928
+        ],
+        "object_B_id": 317,
+        "object_B_category": "beam",
+        "object_B_position": [
+          -10.47029972076416,
+          3.46028995513916,
+          -1.6546497344970703
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -5.827493667602539,
+          0.10065700113773346,
+          -6.6631059646606445
+        ],
+        "agent_rotation": [
+          0.7093684673309326,
+          0.0,
+          0.7048379182815552,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 19,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) office (B) kitchen (C) tv",
+      "answer": "B",
+      "options": [
+        "office",
+        "kitchen",
+        "tv"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_15",
+        "adjacent_rooms": [
+          "0_12",
+          "0_13",
+          "0_17",
+          "0_6",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "office",
+          "kitchen",
+          "tv"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "bathroom",
+        "landmark_room": "hallway",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 40,
+    "question": "Along your path, did you see the mirror before or after the shower?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      40,
+      465
+    ],
+    "metadata": {
+      "object_A_id": 40,
+      "object_A_category": "shower",
+      "object_A_timestep": 4,
+      "object_B_id": 465,
+      "object_B_category": "mirror",
+      "object_B_timestep": 11,
+      "time_gap": 7,
+      "asked_first_object_id": 465,
+      "asked_second_object_id": 40
+    }
+  }
+}

test/000619/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 619,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VFuaQ6m2Qom/VFuaQ6m2Qom.glb",
+  "instruction": "InstructionData(instruction_text='On the stair landing go right into the room and take a left in the hall going towards the main door then right up the stairs and stop on the second stair from the bottom. ', instruction_tokens=[1613, 2389, 2219, 1329, 1067, 1968, 1264, 2389, 1994, 119, 2352, 73, 1360, 1237, 2389, 1121, 1071, 2452, 2389, 1445, 757, 2394, 1968, 2527, 2389, 2222, 119, 2278, 1613, 2389, 2054, 2219, 1017, 2389, 348, 15])",
+  "instruction_text": "On the stair landing go right into the room and take a left in the hall going towards the main door then right up the stairs and stop on the second stair from the bottom. ",
+  "num_steps": 74,
+  "total_unique_objects": 125,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "question": "Recall your earlier path. When you passed by the railing in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        489
+      ],
+      "metadata": {
+        "probe_object_id": 489,
+        "probe_category": "railing",
+        "probe_room": "hallway",
+        "probe_region_id": "2_24",
+        "first_seen_timestep": 58,
+        "best_view_timestep": 60,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -17.63789939880371,
+          4.899639129638672,
+          -1.9713594913482666
+        ],
+        "agent_position_when_seen": [
+          -13.692098617553711,
+          0.05781888961791992,
+          -0.16811932623386383
+        ],
+        "pixel_centroid_x": 247.79850746268656,
+        "normalized_position_x": 0.9359258395522387,
+        "object_pixel_count": 134,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 74
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 73,
+      "question": "Along your path, did you see the lighting before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        32,
+        6
+      ],
+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 6,
+        "object_B_category": "lighting",
+        "object_B_timestep": 15,
+        "time_gap": 15,
+        "asked_first_object_id": 6,
+        "asked_second_object_id": 32
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 34,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) rec/game (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "rec/game",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "kitchen",
+          "rec/game",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 34,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 20,
+      "question": "From your current viewpoint, is the sofa to the left or right of the plant?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        108,
+        118
+      ],
+      "metadata": {
+        "object_A_id": 108,
+        "object_A_category": "plant",
+        "object_A_position": [
+          -12.796799659729004,
+          1.8736002445220947,
+          -2.158940076828003
+        ],
+        "object_B_id": 118,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          -15.597200393676758,
+          0.49081993103027344,
+          -2.423140048980713
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -9.740077018737793,
+          0.05781888961791992,
+          -5.2794189453125
+        ],
+        "agent_rotation": [
+          -0.34093278646469116,
+          0.0,
+          -0.9400877356529236,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 15,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) stairs (B) bathroom (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "bathroom",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_24",
+        "adjacent_rooms": [
+          "2_23",
+          "2_25",
+          "2_26",
+          "2_29",
+          "2_31",
+          "2_32",
+          "2_33"
+        ],
+        "correct_answer_room": "2_33",
+        "all_options": [
+          "stairs",
+          "bathroom",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 22,
+      "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": 22,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "stairs",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 30,
+    "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) bedroom (B) other room (C) outdoor",
+    "answer": "B",
+    "options": [
+      "bedroom",
+      "other room",
+      "outdoor"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_7",
+      "adjacent_rooms": [
+        "1_20",
+        "1_36",
+        "1_5"
+      ],
+      "correct_answer_room": "1_36",
+      "all_options": [
+        "bedroom",
+        "other room",
+        "outdoor"
+      ],
+      "context_rooms": "bathroom, entryway/foyer/lobby"
+    }
+  }
+}

test/000642/meta.json

@@ -0,0 +1,208 @@
+{
+  "episode_id": 642,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/EDJbREhghzL/EDJbREhghzL.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight past the potted plants. Stop by the small table and chairs. ', instruction_tokens=[2584, 2288, 1728, 2389, 1864, 1814, 15, 2278, 404, 2389, 2170, 2342, 119, 458, 15])",
+  "instruction_text": "Walk straight past the potted plants. Stop by the small table and chairs. ",
+  "num_steps": 31,
+  "total_unique_objects": 118,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 30,
+      "question": "Recall your earlier path. When you passed by the stool in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        164
+      ],
+      "metadata": {
+        "probe_object_id": 164,
+        "probe_category": "stool",
+        "probe_room": "living room",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 20,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          -9.422030448913574,
+          0.2387099266052246,
+          4.7555999755859375
+        ],
+        "agent_position_when_seen": [
+          -5.004981994628906,
+          3.303333044052124,
+          3.163414478302002
+        ],
+        "pixel_centroid_x": 245.38245614035088,
+        "normalized_position_x": 0.9170504385964913,
+        "object_pixel_count": 285,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 31
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 30,
+      "question": "Along your path, did you see the cushion before or after the plant?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        161
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "plant",
+        "object_A_timestep": 0,
+        "object_B_id": 161,
+        "object_B_category": "cushion",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 161,
+        "asked_second_object_id": 1
+      }
+    },
+    {
+      "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) stairs (B) balcony (C) hallway",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "balcony",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "stairs",
+          "balcony",
+          "hallway"
+        ],
+        "query_timestep_internal": 25,
+        "rooms_visited": [
+          "balcony"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the sofa to the left or right of the curtain?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        138,
+        141
+      ],
+      "metadata": {
+        "object_A_id": 138,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          -11.683500289916992,
+          1.3329496383666992,
+          3.3369598388671875
+        ],
+        "object_B_id": 141,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          -9.516599655151367,
+          0.4425017833709717,
+          3.7563095092773438
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -4.005182266235352,
+          3.303333044052124,
+          3.1434340476989746
+        ],
+        "agent_rotation": [
+          -0.7000070214271545,
+          0.0,
+          -0.7141359448432922,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 20,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) stairs (B) laundryroom/mudroom (C) kitchen",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "laundryroom/mudroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_4",
+          "0_5"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "stairs",
+          "laundryroom/mudroom",
+          "kitchen"
+        ],
+        "context_rooms": "dining room"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 30,
+    "question": "Recall your earlier path. When you passed by the railing in the stairs, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      529
+    ],
+    "metadata": {
+      "probe_object_id": 529,
+      "probe_category": "railing",
+      "probe_room": "stairs",
+      "probe_region_id": "0_14",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 0,
+      "num_sightings": 2,
+      "spatial_relation": "right",
+      "object_position": [
+        -3.8100199699401855,
+        1.326550006866455,
+        5.656750202178955
+      ],
+      "agent_position_when_seen": [
+        -1.0366100072860718,
+        3.303333044052124,
+        3.4601500034332275
+      ],
+      "pixel_centroid_x": 248.51525423728813,
+      "normalized_position_x": 0.9415254237288135,
+      "object_pixel_count": 295,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 31
+    }
+  }
+}

test/000652/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 652,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/759xd9YjKW5/759xd9YjKW5.glb",
+  "instruction": "InstructionData(instruction_text=\"Go between the couches and out of the doorway.  You'll see a curved staircase.  You should climb the stairs.  When you get to the top, you should stop and wait. \", instruction_tokens=[1067, 294, 2389, 595, 119, 1658, 1605, 2389, 766, 15, 2703, 9, 1406, 2059, 73, 652, 2220, 15, 2703, 2109, 513, 2389, 2222, 15, 2632, 2703, 1046, 2438, 2389, 2444, 2703, 2109, 2278, 119, 2579, 15])",
+  "instruction_text": "Go between the couches and out of the doorway.  You'll see a curved staircase.  You should climb the stairs.  When you get to the top, you should stop and wait. ",
+  "num_steps": 74,
+  "total_unique_objects": 198,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "question": "Recall your earlier path. When you passed by the table in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        381
+      ],
+      "metadata": {
+        "probe_object_id": 381,
+        "probe_category": "table",
+        "probe_room": "hallway",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 6,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          -5.821760177612305,
+          0.42794299125671387,
+          2.1907999515533447
+        ],
+        "agent_position_when_seen": [
+          -3.9353456497192383,
+          0.09666500240564346,
+          -1.6825613975524902
+        ],
+        "pixel_centroid_x": 91.58293838862559,
+        "normalized_position_x": -0.28450829383886256,
+        "object_pixel_count": 211,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 74
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 73,
+      "question": "Along your path, did you see the  before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        85,
+        177
+      ],
+      "metadata": {
+        "object_A_id": 85,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 177,
+        "object_B_category": "picture",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 85,
+        "asked_second_object_id": 177
+      }
+    },
+    {
+      "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) hallway (B) dining room (C) bathroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "dining room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "dining room",
+          "bathroom"
+        ],
+        "query_timestep_internal": 62,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the table to the left or right of the railing?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        662,
+        198
+      ],
+      "metadata": {
+        "object_A_id": 662,
+        "object_A_category": "railing",
+        "object_A_position": [
+          -9.382120132446289,
+          1.659560203552246,
+          -3.8004698753356934
+        ],
+        "object_B_id": 198,
+        "object_B_category": "table",
+        "object_B_position": [
+          -5.892300128936768,
+          0.5781760215759277,
+          0.9058510065078735
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -2.5143399238586426,
+          0.09666500240564346,
+          -2.1629199981689453
+        ],
+        "agent_rotation": [
+          -0.5829927921295166,
+          0.0,
+          -0.8124773502349854,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 31,
+      "question": "You are currently in the entryway/foyer/lobby, and you can see the living room, familyroom/lounge. Based on your understanding of the environment layout, which other area is the entryway/foyer/lobby directly connected to? (A) stairs (B) dining room (C) workout/gym/exercise",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "dining room",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_19",
+          "0_4",
+          "0_5",
+          "0_6",
+          "0_9"
+        ],
+        "correct_answer_room": "0_19",
+        "all_options": [
+          "stairs",
+          "dining room",
+          "workout/gym/exercise"
+        ],
+        "context_rooms": "living room, familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 27,
+      "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": 27,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) hallway (B) bedroom (C) kitchen",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "bedroom",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "bedroom",
+        "kitchen"
+      ],
+      "query_timestep_internal": 59,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "familyroom/lounge",
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

test/000686/meta.json

@@ -0,0 +1,199 @@
+{
+  "episode_id": 686,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the room with the mechanical devices. Walk down the hall over the mosaic tile and through the first open door to left that has the two massage beds inside. ', instruction_tokens=[2584, 1658, 1605, 2389, 1994, 2661, 2389, 1484, 698, 15, 2584, 780, 2389, 1121, 1669, 2389, 1529, 2429, 119, 2418, 2389, 946, 1625, 757, 2438, 1360, 2388, 1156, 2389, 2509, 1472, 275, 1249, 15])",
+  "instruction_text": "Walk out of the room with the mechanical devices. Walk down the hall over the mosaic tile and through the first open door to left that has the two massage beds inside. ",
+  "num_steps": 64,
+  "total_unique_objects": 76,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "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": 46,
+        "num_sightings": 14,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.7636399269104004,
+          0.12878108024597168,
+          3.5357398986816406
+        ],
+        "agent_position_when_seen": [
+          -3.7085933685302734,
+          0.12697899341583252,
+          -2.8164234161376953
+        ],
+        "pixel_centroid_x": 45.23933402705515,
+        "normalized_position_x": -0.6465677029136316,
+        "object_pixel_count": 961,
+        "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 bed before or after the ?",
+      "answer": "after",
+      "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": 524,
+        "asked_second_object_id": 28
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 8,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) bathroom (C) spa/sauna",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "bathroom",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "spa/sauna",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "bathroom",
+          "spa/sauna"
+        ],
+        "query_timestep_internal": 8,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "You are currently in the spa/sauna, and you can see the hallway, spa/sauna. Based on your understanding of the environment layout, which other area is the spa/sauna directly connected to? (A) toilet (B) bathroom (C) spa/sauna",
+      "answer": "C",
+      "options": [
+        "toilet",
+        "bathroom",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_11",
+          "0_14",
+          "0_27"
+        ],
+        "correct_answer_room": "0_14",
+        "all_options": [
+          "toilet",
+          "bathroom",
+          "spa/sauna"
+        ],
+        "context_rooms": "hallway, spa/sauna"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "spa/sauna",
+        "landmark_room": "toilet",
+        "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": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 63,
+    "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": 46,
+      "num_sightings": 14,
+      "spatial_relation": "left",
+      "object_position": [
+        -3.7636399269104004,
+        0.12878108024597168,
+        3.5357398986816406
+      ],
+      "agent_position_when_seen": [
+        -3.7085933685302734,
+        0.12697899341583252,
+        -2.8164234161376953
+      ],
+      "pixel_centroid_x": 45.23933402705515,
+      "normalized_position_x": -0.6465677029136316,
+      "object_pixel_count": 961,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 64
+    }
+  }
+}

test/000712/meta.json

@@ -0,0 +1,226 @@
+{
+  "episode_id": 712,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/D7N2EKCX4Sj/D7N2EKCX4Sj.glb",
+  "instruction": "InstructionData(instruction_text='Walk up the stairs to your right. Turn right, then turn left at the fireplace. Wait by the curio cabinet. ', instruction_tokens=[2584, 2527, 2389, 2222, 2438, 2706, 1968, 15, 2494, 1968, 2394, 2494, 1360, 178, 2389, 942, 15, 2579, 404, 2389, 643, 408, 15])",
+  "instruction_text": "Walk up the stairs to your right. Turn right, then turn left at the fireplace. Wait by the curio cabinet. ",
+  "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 stairs in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1245
+      ],
+      "metadata": {
+        "probe_object_id": 1245,
+        "probe_category": "stairs",
+        "probe_room": "hallway",
+        "probe_region_id": "2_34",
+        "first_seen_timestep": 38,
+        "best_view_timestep": 40,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          6.319469928741455,
+          5.339210033416748,
+          4.162519931793213
+        ],
+        "agent_position_when_seen": [
+          2.9336419105529785,
+          0.007922172546386719,
+          -7.105597972869873
+        ],
+        "pixel_centroid_x": 55.34415584415584,
+        "normalized_position_x": -0.5676237824675325,
+        "object_pixel_count": 154,
+        "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 picture before or after the ?",
+      "answer": "after",
+      "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": 1145,
+        "asked_second_object_id": 42
+      }
+    },
+    {
+      "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) entryway/foyer/lobby (B) stairs (C) bathroom",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "stairs",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "stairs",
+          "bathroom"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "lounge",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 20,
+      "question": "From your current viewpoint, is the picture to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1183,
+        1246
+      ],
+      "metadata": {
+        "object_A_id": 1183,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          10.977899551391602,
+          4.132820129394531,
+          -2.79407000541687
+        ],
+        "object_B_id": 1246,
+        "object_B_category": "picture",
+        "object_B_position": [
+          6.955550193786621,
+          4.426939487457275,
+          0.446075439453125
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -0.3916286528110504,
+          -1.38966965675354,
+          -7.359194278717041
+        ],
+        "agent_rotation": [
+          -0.8097288608551025,
+          0.0,
+          0.586804211139679,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 43,
+      "question": "Based on your exploration and knowledge of the environment, which area is the balcony you see now directly connected to? (A) hallway (B) office (C) toilet",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "office",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_35",
+        "adjacent_rooms": [
+          "2_31",
+          "2_34"
+        ],
+        "correct_answer_room": "2_34",
+        "all_options": [
+          "hallway",
+          "office",
+          "toilet"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 28,
+      "question": "From your current position, will you pass through the lounge on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 28,
+        "current_room": "stairs",
+        "landmark_room": "lounge",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "stairs",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "lounge",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "lounge",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 66,
+    "question": "Along your path, did you see the picture before or after the ?",
+    "answer": "after",
+    "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": 1145,
+      "asked_second_object_id": 42
+    }
+  }
+}

test/000727/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 727,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='Go straight out through the locker room to the door. Walk into the hall and make a right and another right into the doorway of the room next door. ', instruction_tokens=[1067, 2288, 1658, 2418, 2389, 1414, 1994, 2438, 2389, 757, 15, 2584, 1264, 2389, 1121, 119, 1446, 73, 1968, 119, 126, 1968, 1264, 2389, 766, 1605, 2389, 1994, 1576, 757, 15])",
+  "instruction_text": "Go straight out through the locker room to the door. Walk into the hall and make a right and another right into the doorway of the room next door. ",
+  "num_steps": 32,
+  "total_unique_objects": 154,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 31,
+      "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": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        24
+      ],
+      "metadata": {
+        "probe_object_id": 24,
+        "probe_category": "seating",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 28,
+        "best_view_timestep": 28,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -5.11407995223999,
+          0.37766313552856445,
+          -2.182539701461792
+        ],
+        "agent_position_when_seen": [
+          1.3252921104431152,
+          0.09863299131393433,
+          -4.86391544342041
+        ],
+        "pixel_centroid_x": 208.36923076923077,
+        "normalized_position_x": 0.6278846153846154,
+        "object_pixel_count": 130,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 32
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 31,
+      "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": [
+        5,
+        69
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 69,
+        "object_B_category": "lighting",
+        "object_B_timestep": 10,
+        "time_gap": 10,
+        "asked_first_object_id": 69,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "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) workout/gym/exercise (B) other room (C) spa/sauna",
+      "answer": "A",
+      "options": [
+        "workout/gym/exercise",
+        "other room",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "workout/gym/exercise",
+        "all_options": [
+          "workout/gym/exercise",
+          "other room",
+          "spa/sauna"
+        ],
+        "query_timestep_internal": 19,
+        "rooms_visited": [
+          "hallway",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the counter to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        5,
+        182
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -0.05630701780319214,
+          0.28086602687835693,
+          -0.9970039129257202
+        ],
+        "object_B_id": 182,
+        "object_B_category": "counter",
+        "object_B_position": [
+          7.32213020324707,
+          0.6709690093994141,
+          -2.868040084838867
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          1.3087931871414185,
+          0.09863299131393433,
+          -5.359363079071045
+        ],
+        "agent_rotation": [
+          0.3371552526950836,
+          0.0,
+          -0.9414491057395935,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 9,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) utilityroom/toolroom (B) hallway (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "utilityroom/toolroom",
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_12",
+          "0_6",
+          "0_7",
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "utilityroom/toolroom",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "entryway/foyer/lobby, spa/sauna"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the workout/gym/exercise on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "hallway",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "workout/gym/exercise",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 1,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) hallway (C) stairs",
+    "answer": "B",
+    "options": [
+      "entryway/foyer/lobby",
+      "hallway",
+      "stairs"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "stairs"
+      ],
+      "query_timestep_internal": 1,
+      "rooms_visited": [
+        "hallway",
+        "workout/gym/exercise"
+      ]
+    }
+  }
+}

test/000754/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 754,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Exit the kitchen and enter the bed room. When you enter the bedroom take an immediate right. enter the study and take another immediate right  and stand in the hallway looking forward down the corridor. ', instruction_tokens=[888, 2389, 1306, 119, 860, 2389, 267, 1994, 15, 2632, 2703, 860, 2389, 273, 2352, 118, 1233, 1968, 15, 860, 2389, 2305, 119, 2352, 126, 1233, 1968, 119, 2235, 1237, 2389, 1126, 1421, 993, 780, 2389, 591, 15])",
+  "instruction_text": "Exit the kitchen and enter the bed room. When you enter the bedroom take an immediate right. enter the study and take another immediate right  and stand in the hallway looking forward down the corridor. ",
+  "num_steps": 55,
+  "total_unique_objects": 478,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "question": "Recall your earlier path. When you passed by the sofa in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        421
+      ],
+      "metadata": {
+        "probe_object_id": 421,
+        "probe_category": "sofa",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 5,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          4.233739852905273,
+          0.2862858772277832,
+          8.035799980163574
+        ],
+        "agent_position_when_seen": [
+          12.377900123596191,
+          0.13922199606895447,
+          -5.10359001159668
+        ],
+        "pixel_centroid_x": 37.58620689655172,
+        "normalized_position_x": -0.7063577586206897,
+        "object_pixel_count": 377,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 55
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 54,
+      "question": "Along your path, did you see the shelving before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        337
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "shelving",
+        "object_A_timestep": 3,
+        "object_B_id": 337,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 337
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 30,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) bathroom (C) office",
+      "answer": "C",
+      "options": [
+        "other room",
+        "bathroom",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "other room",
+          "bathroom",
+          "office"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "office",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the sofa to the left or right of the fireplace?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        447,
+        421
+      ],
+      "metadata": {
+        "object_A_id": 447,
+        "object_A_category": "fireplace",
+        "object_A_position": [
+          6.4227294921875,
+          0.7530179619789124,
+          0.746290922164917
+        ],
+        "object_B_id": 421,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          4.233739852905273,
+          0.2862858772277832,
+          8.035799980163574
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          12.377900123596191,
+          0.13922199606895447,
+          -5.10359001159668
+        ],
+        "agent_rotation": [
+          0.731556236743927,
+          0.0,
+          0.6817811131477356,
+          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) utilityroom/toolroom (B) porch/terrace/deck (C) bedroom",
+      "answer": "C",
+      "options": [
+        "utilityroom/toolroom",
+        "porch/terrace/deck",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_27",
+        "adjacent_rooms": [
+          "0_25",
+          "0_28"
+        ],
+        "correct_answer_room": "0_28",
+        "all_options": [
+          "utilityroom/toolroom",
+          "porch/terrace/deck",
+          "bedroom"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "workout/gym/exercise",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "workout/gym/exercise",
+          "bedroom",
+          "office",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "office",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "workout/gym/exercise"
+        ]
+      }
+    }
+  ],
+  "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) office (B) kitchen (C) porch/terrace/deck",
+    "answer": "A",
+    "options": [
+      "office",
+      "kitchen",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "office",
+      "all_options": [
+        "office",
+        "kitchen",
+        "porch/terrace/deck"
+      ],
+      "query_timestep_internal": 20,
+      "rooms_visited": [
+        "bedroom",
+        "hallway",
+        "office",
+        "workout/gym/exercise"
+      ]
+    }
+  }
+}

test/000772/meta.json

@@ -0,0 +1,123 @@
+{
+  "episode_id": 772,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the office through the wooden door. Turn in the hallway to the right and follow into the room straight ahead with the open door. Walk into that room which is empty except for two office chairs. ', instruction_tokens=[2584, 1658, 1605, 2389, 1607, 2418, 2389, 2672, 757, 15, 2494, 1237, 2389, 1126, 2438, 2389, 1968, 119, 972, 1264, 2389, 1994, 2288, 98, 2661, 2389, 1625, 757, 15, 2584, 1264, 2388, 1994, 2634, 1267, 843, 883, 984, 2509, 1607, 458, 15])",
+  "instruction_text": "Walk out of the office through the wooden door. Turn in the hallway to the right and follow into the room straight ahead with the open door. Walk into that room which is empty except for two office chairs. ",
+  "num_steps": 37,
+  "total_unique_objects": 935,
+  "mindcraft_queries": [
+    {
+      "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) library (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "library",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "library",
+          "kitchen"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "hallway",
+          "office",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) classroom (B) dining booth (C) library",
+      "answer": "A",
+      "options": [
+        "classroom",
+        "dining booth",
+        "library"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_63",
+        "adjacent_rooms": [
+          "0_61",
+          "0_62",
+          "0_64",
+          "0_65",
+          "0_68"
+        ],
+        "correct_answer_room": "0_64",
+        "all_options": [
+          "classroom",
+          "dining booth",
+          "library"
+        ],
+        "context_rooms": "other room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "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": 5,
+        "current_room": "office",
+        "landmark_room": "hallway",
+        "final_room": "other room",
+        "remaining_rooms": [
+          "office",
+          "hallway",
+          "other room"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "office",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 18,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) hallway (C) library",
+    "answer": "B",
+    "options": [
+      "lounge",
+      "hallway",
+      "library"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "lounge",
+        "hallway",
+        "library"
+      ],
+      "query_timestep_internal": 18,
+      "rooms_visited": [
+        "hallway",
+        "office",
+        "other room"
+      ]
+    }
+  }
+}

test/000784/meta.json

@@ -0,0 +1,240 @@
+{
+  "episode_id": 784,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/gTV8FGcVJC9/gTV8FGcVJC9.glb",
+  "instruction": "InstructionData(instruction_text='Exit the kitchenette, then the bedroom through the doors on the left. Go down the hall to the bedroom on the right. Wait in the en suite bathroom. ', instruction_tokens=[888, 2389, 1307, 2394, 2389, 273, 2418, 2389, 762, 1613, 2389, 1360, 15, 1067, 780, 2389, 1121, 2438, 2389, 273, 1613, 2389, 1968, 15, 2579, 1237, 2389, 844, 2313, 242, 15])",
+  "instruction_text": "Exit the kitchenette, then the bedroom through the doors on the left. Go down the hall to the bedroom on the right. Wait in the en suite bathroom. ",
+  "num_steps": 77,
+  "total_unique_objects": 703,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 76,
+      "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": [
+        785
+      ],
+      "metadata": {
+        "probe_object_id": 785,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "2_29",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 17,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          4.485010147094727,
+          2.952929973602295,
+          10.427000045776367
+        ],
+        "agent_position_when_seen": [
+          14.680537223815918,
+          2.2566428184509277,
+          10.51014232635498
+        ],
+        "pixel_centroid_x": 235.92307692307693,
+        "normalized_position_x": 0.8431490384615385,
+        "object_pixel_count": 104,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 77
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 76,
+      "question": "Along your path, did you see the cushion before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        19,
+        645
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 645,
+        "object_B_category": "cushion",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 645,
+        "asked_second_object_id": 19
+      }
+    },
+    {
+      "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) familyroom/lounge (B) dining room (C) hallway",
+      "answer": "C",
+      "options": [
+        "familyroom/lounge",
+        "dining room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "familyroom/lounge",
+          "dining room",
+          "hallway"
+        ],
+        "query_timestep_internal": 20,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 54,
+      "question": "From your current viewpoint, is the curtain in front of or behind the sofa?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        439,
+        429
+      ],
+      "metadata": {
+        "object_A_id": 439,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          3.7913899421691895,
+          -1.618189811706543,
+          8.148980140686035
+        ],
+        "object_B_id": 429,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          3.6321699619293213,
+          0.220703125,
+          9.208820343017578
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          8.430070877075195,
+          2.2566428184509277,
+          9.18315315246582
+        ],
+        "agent_rotation": [
+          -0.999955952167511,
+          0.0,
+          -0.009388953447341919,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 29,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) other room (B) hallway (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "other room",
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_1",
+          "0_3",
+          "0_4"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "other room",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "rec/game, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "bedroom",
+        "landmark_room": "living room",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom",
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 11,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) kitchen (B) familyroom/lounge (C) office",
+    "answer": "B",
+    "options": [
+      "kitchen",
+      "familyroom/lounge",
+      "office"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "2_35",
+      "adjacent_rooms": [
+        "2_25",
+        "2_29",
+        "2_30",
+        "2_31",
+        "2_32",
+        "2_34",
+        "2_36",
+        "2_37",
+        "2_38",
+        "2_39",
+        "2_40"
+      ],
+      "correct_answer_room": "2_30",
+      "all_options": [
+        "kitchen",
+        "familyroom/lounge",
+        "office"
+      ],
+      "context_rooms": "stairs, stairs"
+    }
+  }
+}

test/000823/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 823,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/gTV8FGcVJC9/gTV8FGcVJC9.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the coffee table and turn left. Walk into the hallway and turn left. Walk down the stairs and turn left at the double doors. Walk into the bedroom and turn right. Walk in front of the sink and stop. ', instruction_tokens=[2584, 1728, 2389, 534, 2342, 119, 2494, 1360, 15, 2584, 1264, 2389, 1126, 119, 2494, 1360, 15, 2584, 780, 2389, 2222, 119, 2494, 1360, 178, 2389, 775, 762, 15, 2584, 1264, 2389, 273, 119, 2494, 1968, 15, 2584, 1237, 1019, 1605, 2389, 2132, 119, 2278, 15])",
+  "instruction_text": "Walk past the coffee table and turn left. Walk into the hallway and turn left. Walk down the stairs and turn left at the double doors. Walk into the bedroom and turn right. Walk in front of the sink and stop. ",
+  "num_steps": 91,
+  "total_unique_objects": 558,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 90,
+      "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        751
+      ],
+      "metadata": {
+        "probe_object_id": 751,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_27",
+        "first_seen_timestep": 74,
+        "best_view_timestep": 75,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          6.830499649047852,
+          3.1394596099853516,
+          6.833399295806885
+        ],
+        "agent_position_when_seen": [
+          8.24326229095459,
+          2.2566428184509277,
+          8.488499641418457
+        ],
+        "pixel_centroid_x": 27.99411764705882,
+        "normalized_position_x": -0.7812959558823529,
+        "object_pixel_count": 170,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 91
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 90,
+      "question": "Along your path, did you see the board_panel before or after the beam?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        8,
+        73
+      ],
+      "metadata": {
+        "object_A_id": 8,
+        "object_A_category": "beam",
+        "object_A_timestep": 0,
+        "object_B_id": 73,
+        "object_B_category": "board_panel",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 73,
+        "asked_second_object_id": 8
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 88,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) bathroom (C) closet",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "bathroom",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "laundryroom/mudroom",
+          "bathroom",
+          "closet"
+        ],
+        "query_timestep_internal": 88,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the sofa to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        476,
+        439
+      ],
+      "metadata": {
+        "object_A_id": 476,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          1.0374699831008911,
+          -1.62738037109375,
+          10.783499717712402
+        ],
+        "object_B_id": 439,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          3.7913899421691895,
+          -1.618189811706543,
+          8.148980140686035
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          4.325270175933838,
+          3.456643581390381,
+          8.241189956665039
+        ],
+        "agent_rotation": [
+          -0.9680935740470886,
+          0.0,
+          -0.2505890727043152,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 8,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) lounge (B) bathroom (C) rec/game",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "bathroom",
+        "rec/game"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_1",
+          "0_3",
+          "0_4"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "lounge",
+          "bathroom",
+          "rec/game"
+        ],
+        "context_rooms": "stairs, other room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "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": 1,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "other room",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "hallway",
+          "stairs",
+          "hallway",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 90,
+    "question": "Along your path, did you see the beam before or after the board_panel?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      8,
+      73
+    ],
+    "metadata": {
+      "object_A_id": 8,
+      "object_A_category": "beam",
+      "object_A_timestep": 0,
+      "object_B_id": 73,
+      "object_B_category": "board_panel",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 8,
+      "asked_second_object_id": 73
+    }
+  }
+}

test/000846/meta.json

@@ -0,0 +1,226 @@
+{
+  "episode_id": 846,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Facing the door walk out of the door and into the bedroom taking a right past the dresser and take a right out into the hallway stopping in the hallway doorway. ', instruction_tokens=[906, 2389, 757, 2584, 1658, 1605, 2389, 757, 119, 1264, 2389, 273, 2355, 73, 1968, 1728, 2389, 797, 119, 2352, 73, 1968, 1658, 1264, 2389, 1126, 2279, 1237, 2389, 1126, 766, 15])",
+  "instruction_text": "Facing the door walk out of the door and into the bedroom taking a right past the dresser and take a right out into the hallway stopping in the hallway doorway. ",
+  "num_steps": 54,
+  "total_unique_objects": 127,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "question": "Recall your earlier path. When you passed by the plant in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        394
+      ],
+      "metadata": {
+        "probe_object_id": 394,
+        "probe_category": "plant",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_16",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 12,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -13.258299827575684,
+          1.3347300291061401,
+          1.461650013923645
+        ],
+        "agent_position_when_seen": [
+          -12.85776424407959,
+          0.11627800017595291,
+          -1.3078866004943848
+        ],
+        "pixel_centroid_x": 48.07310480402998,
+        "normalized_position_x": -0.6244288687185158,
+        "object_pixel_count": 8139,
+        "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  before or after the railing?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        102,
+        21
+      ],
+      "metadata": {
+        "object_A_id": 102,
+        "object_A_category": "railing",
+        "object_A_timestep": 0,
+        "object_B_id": 21,
+        "object_B_category": "",
+        "object_B_timestep": 7,
+        "time_gap": 7,
+        "asked_first_object_id": 21,
+        "asked_second_object_id": 102
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 30,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) bedroom (C) hallway",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "familyroom/lounge",
+          "bedroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 30,
+      "question": "From your current viewpoint, is the towel to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        35,
+        33
+      ],
+      "metadata": {
+        "object_A_id": 35,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -12.196000099182129,
+          3.3390798568725586,
+          0.9909610748291016
+        ],
+        "object_B_id": 33,
+        "object_B_category": "towel",
+        "object_B_position": [
+          -11.79069995880127,
+          4.229029655456543,
+          1.021010398864746
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -12.271319389343262,
+          0.11627800017595291,
+          -3.177903652191162
+        ],
+        "agent_rotation": [
+          -0.8851351141929626,
+          0.0,
+          0.4653342068195343,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) dining room (B) bathroom (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "dining room",
+        "bathroom",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_12",
+          "0_14",
+          "0_17",
+          "0_4"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "dining room",
+          "bathroom",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "hallway, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "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": 10,
+        "current_room": "bathroom",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) 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": 28,
+      "rooms_visited": [
+        "bathroom",
+        "bedroom"
+      ]
+    }
+  }
+}

test/000854/meta.json

@@ -0,0 +1,185 @@
+{
+  "episode_id": 854,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Move forward to the wall adjacent to the doorway.  Turn to face the doorway.  Move through the door way toward the stairs.  Keep moving until you are on the second step of the stairs and then stop. ', instruction_tokens=[1537, 993, 2438, 2389, 2593, 88, 2438, 2389, 766, 15, 2494, 2438, 903, 2389, 766, 15, 1537, 2418, 2389, 757, 2616, 2451, 2389, 2222, 15, 1295, 1540, 2524, 2703, 149, 1613, 2389, 2054, 2260, 1605, 2389, 2222, 119, 2394, 2278, 15])",
+  "instruction_text": "Move forward to the wall adjacent to the doorway.  Turn to face the doorway.  Move through the door way toward the stairs.  Keep moving until you are on the second step of the stairs and then stop. ",
+  "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 table in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        444
+      ],
+      "metadata": {
+        "probe_object_id": 444,
+        "probe_category": "table",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "1_20",
+        "first_seen_timestep": 23,
+        "best_view_timestep": 29,
+        "num_sightings": 8,
+        "spatial_relation": "right",
+        "object_position": [
+          -9.484580039978027,
+          0.4479498863220215,
+          2.6007800102233887
+        ],
+        "agent_position_when_seen": [
+          -13.615913391113281,
+          0.11554622650146484,
+          -4.152577877044678
+        ],
+        "pixel_centroid_x": 250.0,
+        "normalized_position_x": 0.953125,
+        "object_pixel_count": 470,
+        "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": 18,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) utilityroom/toolroom (C) laundryroom/mudroom",
+      "answer": "C",
+      "options": [
+        "office",
+        "utilityroom/toolroom",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "laundryroom/mudroom",
+        "all_options": [
+          "office",
+          "utilityroom/toolroom",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "hallway",
+          "laundryroom/mudroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 36,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) porch/terrace/deck (B) workout/gym/exercise (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "workout/gym/exercise",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_19",
+        "adjacent_rooms": [
+          "1_18",
+          "1_20",
+          "1_21",
+          "1_29",
+          "1_32"
+        ],
+        "correct_answer_room": "1_20",
+        "all_options": [
+          "porch/terrace/deck",
+          "workout/gym/exercise",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "bathroom, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "laundryroom/mudroom",
+        "landmark_room": "familyroom/lounge",
+        "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": 15,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) laundryroom/mudroom (C) living room",
+    "answer": "B",
+    "options": [
+      "bedroom",
+      "laundryroom/mudroom",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "laundryroom/mudroom",
+      "all_options": [
+        "bedroom",
+        "laundryroom/mudroom",
+        "living room"
+      ],
+      "query_timestep_internal": 15,
+      "rooms_visited": [
+        "hallway",
+        "laundryroom/mudroom"
+      ]
+    }
+  }
+}

test/000937/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 937,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='Move straight past the wooden room divider, then make a sharp right into the doorway of the kitchen. Wait in the doorway. ', instruction_tokens=[1537, 2288, 1728, 2389, 2672, 1994, 737, 2394, 1446, 73, 2091, 1968, 1264, 2389, 766, 1605, 2389, 1306, 15, 2579, 1237, 2389, 766, 15])",
+  "instruction_text": "Move straight past the wooden room divider, then make a sharp right into the doorway of the kitchen. Wait in the doorway. ",
+  "num_steps": 31,
+  "total_unique_objects": 186,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 30,
+      "question": "Recall your earlier path. When you passed by the cabinet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        258
+      ],
+      "metadata": {
+        "probe_object_id": 258,
+        "probe_category": "cabinet",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_13",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 2,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          7.268509864807129,
+          1.2502403259277344,
+          -8.170929908752441
+        ],
+        "agent_position_when_seen": [
+          4.988329887390137,
+          0.05631500482559204,
+          -10.359800338745117
+        ],
+        "pixel_centroid_x": 106.9,
+        "normalized_position_x": -0.16484374999999996,
+        "object_pixel_count": 200,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 31
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 30,
+      "question": "Along your path, did you see the cabinet before or after the mirror?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        60,
+        50
+      ],
+      "metadata": {
+        "object_A_id": 60,
+        "object_A_category": "mirror",
+        "object_A_timestep": 0,
+        "object_B_id": 50,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 9,
+        "time_gap": 9,
+        "asked_first_object_id": 50,
+        "asked_second_object_id": 60
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 3,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) dining room (C) bathroom",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "dining room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "bedroom",
+          "dining room",
+          "bathroom"
+        ],
+        "query_timestep_internal": 3,
+        "rooms_visited": [
+          "dining room",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the appliances to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        11,
+        116
+      ],
+      "metadata": {
+        "object_A_id": 11,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -1.8140499591827393,
+          0.5600619912147522,
+          1.4716401100158691
+        ],
+        "object_B_id": 116,
+        "object_B_category": "appliances",
+        "object_B_position": [
+          8.534879684448242,
+          1.0940098762512207,
+          -5.747419834136963
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          5.068009376525879,
+          0.05631500482559204,
+          -9.11234188079834
+        ],
+        "agent_rotation": [
+          0.03188815712928772,
+          0.0,
+          -0.9994914531707764,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 1,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bedroom (B) living room (C) toilet",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "living room",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_1",
+          "0_11",
+          "0_12",
+          "0_13",
+          "0_15",
+          "0_3",
+          "0_7"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "bedroom",
+          "living room",
+          "toilet"
+        ],
+        "context_rooms": "dining room, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "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": 15,
+        "current_room": "dining room",
+        "landmark_room": "kitchen",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "dining room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) bathroom (B) hallway (C) kitchen",
+    "answer": "B",
+    "options": [
+      "bathroom",
+      "hallway",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "bathroom",
+        "hallway",
+        "kitchen"
+      ],
+      "query_timestep_internal": 22,
+      "rooms_visited": [
+        "dining room",
+        "hallway"
+      ]
+    }
+  }
+}

test/000940/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 940,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/759xd9YjKW5/759xd9YjKW5.glb",
+  "instruction": "InstructionData(instruction_text='Walk into the bedroom and around the foot of the bed. Walk through the door on the other side of the bed and into the hallway. Walk along the banister passed the stairs. Walk into the bedroom with two night stands on either side of the bed near, passing a bathroom. ', instruction_tokens=[2584, 1264, 2389, 273, 119, 159, 2389, 980, 1605, 2389, 267, 15, 2584, 2418, 2389, 757, 1613, 2389, 1651, 2121, 1605, 2389, 267, 119, 1264, 2389, 1126, 15, 2584, 108, 2389, 211, 1725, 2389, 2222, 15, 2584, 1264, 2389, 273, 2661, 2509, 1580, 2237, 1613, 832, 2121, 1605, 2389, 267, 1563, 1727, 73, 242, 15])",
+  "instruction_text": "Walk into the bedroom and around the foot of the bed. Walk through the door on the other side of the bed and into the hallway. Walk along the banister passed the stairs. Walk into the bedroom with two night stands on either side of the bed near, passing a bathroom. ",
+  "num_steps": 94,
+  "total_unique_objects": 198,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 93,
+      "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": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        190
+      ],
+      "metadata": {
+        "probe_object_id": 190,
+        "probe_category": "cabinet",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 2,
+        "best_view_timestep": 2,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -5.958489894866943,
+          1.0956599712371826,
+          -2.7888498306274414
+        ],
+        "agent_position_when_seen": [
+          0.8197100162506104,
+          3.2966651916503906,
+          -3.864140033721924
+        ],
+        "pixel_centroid_x": 178.21465968586386,
+        "normalized_position_x": 0.39230202879581144,
+        "object_pixel_count": 191,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 94
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 93,
+      "question": "Along your path, did you see the stool before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        194,
+        136
+      ],
+      "metadata": {
+        "object_A_id": 194,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 136,
+        "object_B_category": "stool",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 136,
+        "asked_second_object_id": 194
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 81,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) entryway/foyer/lobby (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "living room",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "query_timestep_internal": 81,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 37,
+      "question": "From your current viewpoint, is the sofa to the left or right of the objects?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        374,
+        161
+      ],
+      "metadata": {
+        "object_A_id": 374,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -5.757319927215576,
+          0.6525435447692871,
+          6.980989456176758
+        ],
+        "object_B_id": 161,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          -8.690810203552246,
+          0.48923540115356445,
+          5.832739353179932
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -3.3687779903411865,
+          3.2966651916503906,
+          -1.375787377357483
+        ],
+        "agent_rotation": [
+          -0.8503262400627136,
+          0.0,
+          -0.5262559056282043,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 44,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) kitchen (B) dining room (C) bathroom",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "dining room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_19",
+          "0_4",
+          "0_5",
+          "0_6",
+          "0_9"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "kitchen",
+          "dining room",
+          "bathroom"
+        ],
+        "context_rooms": "stairs, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 24,
+      "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": 24,
+        "current_room": "bedroom",
+        "landmark_room": "bathroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "bedroom"
+        ],
+        "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": "L3.1_TopologicalAdjacency",
+    "query_timestep": 47,
+    "question": "You are currently in the bedroom, and you can see the hallway. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) stairs (B) bathroom (C) living room",
+    "answer": "B",
+    "options": [
+      "stairs",
+      "bathroom",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_13",
+      "adjacent_rooms": [
+        "1_14",
+        "1_15"
+      ],
+      "correct_answer_room": "1_14",
+      "all_options": [
+        "stairs",
+        "bathroom",
+        "living room"
+      ],
+      "context_rooms": "hallway"
+    }
+  }
+}

test/001100/meta.json

@@ -0,0 +1,187 @@
+{
+  "episode_id": 1100,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and enter the house through the sliding glass doors, turn right, then walk straight past the counter until you come to a door on your left. Turn Left and go through the door. Wait near coat hanger. ', instruction_tokens=[2494, 159, 119, 860, 2389, 1213, 2418, 2389, 2161, 1057, 762, 2494, 1968, 2394, 2584, 2288, 1728, 2389, 598, 2524, 2703, 544, 2438, 73, 757, 1613, 2706, 1360, 15, 2494, 1360, 119, 1067, 2418, 2389, 757, 15, 2579, 1563, 532, 1147, 15])",
+  "instruction_text": "Turn around and enter the house through the sliding glass doors, turn right, then walk straight past the counter until you come to a door on your left. Turn Left and go through the door. Wait near coat hanger. ",
+  "num_steps": 62,
+  "total_unique_objects": 476,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "question": "Recall your earlier path. When you passed by the table in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        330
+      ],
+      "metadata": {
+        "probe_object_id": 330,
+        "probe_category": "table",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 47,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          -8.59241008758545,
+          0.39234161376953125,
+          9.476399421691895
+        ],
+        "agent_position_when_seen": [
+          -8.172281265258789,
+          0.13922199606895447,
+          8.24063777923584
+        ],
+        "pixel_centroid_x": 200.04379562043795,
+        "normalized_position_x": 0.5628421532846715,
+        "object_pixel_count": 137,
+        "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 picture before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        17
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 17,
+        "object_B_category": "picture",
+        "object_B_timestep": 12,
+        "time_gap": 12,
+        "asked_first_object_id": 17,
+        "asked_second_object_id": 1
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 37,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) kitchen (C) utilityroom/toolroom",
+      "answer": "B",
+      "options": [
+        "other room",
+        "kitchen",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "other room",
+          "kitchen",
+          "utilityroom/toolroom"
+        ],
+        "query_timestep_internal": 37,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the utilityroom/toolroom you see now directly connected to? (A) bathroom (B) lounge (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "lounge",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_3",
+          "0_5"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "bathroom",
+          "lounge",
+          "hallway"
+        ],
+        "context_rooms": "utilityroom/toolroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 6,
+        "current_room": "hallway",
+        "landmark_room": "kitchen",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "kitchen",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) kitchen (B) other room (C) workout/gym/exercise",
+    "answer": "A",
+    "options": [
+      "kitchen",
+      "other room",
+      "workout/gym/exercise"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "kitchen",
+        "other room",
+        "workout/gym/exercise"
+      ],
+      "query_timestep_internal": 27,
+      "rooms_visited": [
+        "hallway",
+        "kitchen",
+        "porch/terrace/deck"
+      ]
+    }
+  }
+}

test/001128/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 1128,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Walk to the hallway and take a right. At the end of the hall take another right into the bedroom and stop beside the nightstand. ', instruction_tokens=[2584, 2438, 2389, 1126, 119, 2352, 73, 1968, 15, 178, 2389, 851, 1605, 2389, 1121, 2352, 126, 1968, 1264, 2389, 273, 119, 2278, 293, 2389, 1581, 15])",
+  "instruction_text": "Walk to the hallway and take a right. At the end of the hall take another right into the bedroom and stop beside the nightstand. ",
+  "num_steps": 49,
+  "total_unique_objects": 199,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the objects in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        429
+      ],
+      "metadata": {
+        "probe_object_id": 429,
+        "probe_category": "objects",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_14",
+        "first_seen_timestep": 20,
+        "best_view_timestep": 27,
+        "num_sightings": 11,
+        "spatial_relation": "right",
+        "object_position": [
+          -6.120510101318359,
+          2.89039945602417,
+          -1.0875197649002075
+        ],
+        "agent_position_when_seen": [
+          -3.5975217819213867,
+          0.3000051975250244,
+          -5.860700607299805
+        ],
+        "pixel_centroid_x": 226.8512241054614,
+        "normalized_position_x": 0.7722751883239172,
+        "object_pixel_count": 531,
+        "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 picture before or after the toilet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        450,
+        325
+      ],
+      "metadata": {
+        "object_A_id": 450,
+        "object_A_category": "picture",
+        "object_A_timestep": 2,
+        "object_B_id": 325,
+        "object_B_category": "toilet",
+        "object_B_timestep": 7,
+        "time_gap": 5,
+        "asked_first_object_id": 450,
+        "asked_second_object_id": 325
+      }
+    },
+    {
+      "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) balcony (B) stairs (C) bathroom",
+      "answer": "B",
+      "options": [
+        "balcony",
+        "stairs",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "balcony",
+          "stairs",
+          "bathroom"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 44,
+      "question": "From your current viewpoint, is the plant to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        406,
+        428
+      ],
+      "metadata": {
+        "object_A_id": 406,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -6.486289978027344,
+          0.58685302734375,
+          -1.9433698654174805
+        ],
+        "object_B_id": 428,
+        "object_B_category": "plant",
+        "object_B_position": [
+          -5.029709815979004,
+          1.3031500577926636,
+          0.8286119699478149
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -3.9732208251953125,
+          0.3000051975250244,
+          -2.8986613750457764
+        ],
+        "agent_rotation": [
+          -0.4205971360206604,
+          0.0,
+          -0.9072475433349609,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "You are currently in the hallway, and you can see the bedroom, bathroom. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) familyroom/lounge (B) bathroom (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "bathroom",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_11",
+        "adjacent_rooms": [
+          "1_12",
+          "1_13",
+          "1_14",
+          "1_16",
+          "1_17",
+          "1_9"
+        ],
+        "correct_answer_room": "1_17",
+        "all_options": [
+          "familyroom/lounge",
+          "bathroom",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "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": 18,
+        "current_room": "hallway",
+        "landmark_room": "stairs",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 12,
+    "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": 12,
+      "current_room": "hallway",
+      "landmark_room": "bedroom",
+      "final_room": "bedroom",
+      "remaining_rooms": [
+        "hallway",
+        "bedroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bedroom",
+        "hallway",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

test/001233/meta.json

@@ -0,0 +1,203 @@
+{
+  "episode_id": 1233,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='go straight and take left and turn first right near right side chair. ', instruction_tokens=[1067, 2288, 119, 2352, 1360, 119, 2494, 946, 1968, 1563, 1968, 2121, 457, 15])",
+  "instruction_text": "go straight and take left and turn first right near right side chair. ",
+  "num_steps": 53,
+  "total_unique_objects": 84,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 52,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        103
+      ],
+      "metadata": {
+        "probe_object_id": 103,
+        "probe_category": "tv_monitor",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 3,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          11.601099967956543,
+          1.1811800003051758,
+          2.025059938430786
+        ],
+        "agent_position_when_seen": [
+          8.476300239562988,
+          0.05631500482559204,
+          -8.649749755859375
+        ],
+        "pixel_centroid_x": 246.36075949367088,
+        "normalized_position_x": 0.9246934335443038,
+        "object_pixel_count": 158,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 53
+      }
+    },
+    {
+      "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) kitchen (B) bathroom (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "bathroom",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "kitchen",
+          "bathroom",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 3,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the counter?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        110,
+        85
+      ],
+      "metadata": {
+        "object_A_id": 110,
+        "object_A_category": "counter",
+        "object_A_position": [
+          11.767800331115723,
+          0.6705341339111328,
+          -4.2212300300598145
+        ],
+        "object_B_id": 85,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          11.865099906921387,
+          1.2764101028442383,
+          4.34975004196167
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          8.476300239562988,
+          0.05631500482559204,
+          -8.649749755859375
+        ],
+        "agent_rotation": [
+          -0.42673948407173157,
+          0.0,
+          0.9043746590614319,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 1,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) dining room (B) living room (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "living room",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_15",
+          "0_18",
+          "0_6"
+        ],
+        "correct_answer_room": "0_15",
+        "all_options": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 7,
+        "current_room": "bathroom",
+        "landmark_room": "living room",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) bathroom (C) living room",
+    "answer": "B",
+    "options": [
+      "kitchen",
+      "bathroom",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bathroom",
+      "all_options": [
+        "kitchen",
+        "bathroom",
+        "living room"
+      ],
+      "query_timestep_internal": 16,
+      "rooms_visited": [
+        "bathroom",
+        "dining room",
+        "hallway"
+      ]
+    }
+  }
+}

test/001263/meta.json

@@ -0,0 +1,225 @@
+{
+  "episode_id": 1263,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward with the wall on your left. Enter the house and take a left. Take a right before you reach the piano and take a right into the library. Stop in front of the sink. ', instruction_tokens=[2584, 993, 2661, 2389, 2593, 1613, 2706, 1360, 15, 860, 2389, 1213, 119, 2352, 73, 1360, 15, 2352, 73, 1968, 281, 2703, 1920, 2389, 1773, 119, 2352, 73, 1968, 1264, 2389, 1376, 15, 2278, 1237, 1019, 1605, 2389, 2132, 15])",
+  "instruction_text": "Walk forward with the wall on your left. Enter the house and take a left. Take a right before you reach the piano and take a right into the library. Stop in front of the sink. ",
+  "num_steps": 72,
+  "total_unique_objects": 191,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 71,
+      "question": "Recall your earlier path. When you passed by the sofa in the office, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        262
+      ],
+      "metadata": {
+        "probe_object_id": 262,
+        "probe_category": "sofa",
+        "probe_room": "office",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 68,
+        "best_view_timestep": 68,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          -10.079400062561035,
+          -0.28813934326171875,
+          -11.048298835754395
+        ],
+        "agent_position_when_seen": [
+          -12.05821418762207,
+          0.13779401779174805,
+          -13.515357971191406
+        ],
+        "pixel_centroid_x": 187.01869158878506,
+        "normalized_position_x": 0.4610835280373833,
+        "object_pixel_count": 107,
+        "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 shower before or after the curtain?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        351,
+        366
+      ],
+      "metadata": {
+        "object_A_id": 351,
+        "object_A_category": "shower",
+        "object_A_timestep": 6,
+        "object_B_id": 366,
+        "object_B_category": "curtain",
+        "object_B_timestep": 9,
+        "time_gap": 3,
+        "asked_first_object_id": 351,
+        "asked_second_object_id": 366
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 45,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) familyroom/lounge (C) balcony",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "familyroom/lounge",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "familyroom/lounge",
+          "balcony"
+        ],
+        "query_timestep_internal": 45,
+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 66,
+      "question": "From your current viewpoint, is the bed to the left or right of the chest_of_drawers?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        331,
+        334
+      ],
+      "metadata": {
+        "object_A_id": 331,
+        "object_A_category": "chest_of_drawers",
+        "object_A_position": [
+          -3.9822096824645996,
+          -0.2074752002954483,
+          -6.8484601974487305
+        ],
+        "object_B_id": 334,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -5.416629791259766,
+          -0.029283523559570312,
+          -5.016139984130859
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -12.05821418762207,
+          0.13779401779174805,
+          -13.515357971191406
+        ],
+        "agent_rotation": [
+          0.6330567598342896,
+          0.0,
+          -0.774105429649353,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 67,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) hallway (B) stairs (C) balcony",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "stairs",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_11",
+          "0_5",
+          "0_7"
+        ],
+        "correct_answer_room": "0_11",
+        "all_options": [
+          "hallway",
+          "stairs",
+          "balcony"
+        ],
+        "context_rooms": "office, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "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": 18,
+        "current_room": "hallway",
+        "landmark_room": "office",
+        "final_room": "office",
+        "remaining_rooms": [
+          "hallway",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) kitchen (B) hallway (C) balcony",
+    "answer": "B",
+    "options": [
+      "kitchen",
+      "hallway",
+      "balcony"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "kitchen",
+        "hallway",
+        "balcony"
+      ],
+      "query_timestep_internal": 59,
+      "rooms_visited": [
+        "hallway",
+        "office"
+      ]
+    }
+  }
+}

test/001334/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 1334,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JeFG25nYj2p/JeFG25nYj2p.glb",
+  "instruction": "InstructionData(instruction_text='turn right into the hallway and continue past the zebra painting. Enter the living room and turn left. Turn left into the kitchen and wait by the refrigerator. ', instruction_tokens=[2494, 1968, 1264, 2389, 1126, 119, 569, 1728, 2389, 2708, 1688, 15, 860, 2389, 1404, 1994, 119, 2494, 1360, 15, 2494, 1360, 1264, 2389, 1306, 119, 2579, 404, 2389, 1946, 15])",
+  "instruction_text": "turn right into the hallway and continue past the zebra painting. Enter the living room and turn left. Turn left into the kitchen and wait by the refrigerator. ",
+  "num_steps": 74,
+  "total_unique_objects": 196,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "question": "Recall your earlier path. When you passed by the objects in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        171
+      ],
+      "metadata": {
+        "probe_object_id": 171,
+        "probe_category": "objects",
+        "probe_room": "living room",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 5,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          2.187930107116699,
+          0.8327651023864746,
+          3.767270088195801
+        ],
+        "agent_position_when_seen": [
+          3.170639991760254,
+          0.09358400106430054,
+          2.2636899948120117
+        ],
+        "pixel_centroid_x": 64.21827411167513,
+        "normalized_position_x": -0.49829473350253806,
+        "object_pixel_count": 197,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 74
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 73,
+      "question": "Along your path, did you see the sink before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        80,
+        336
+      ],
+      "metadata": {
+        "object_A_id": 80,
+        "object_A_category": "sink",
+        "object_A_timestep": 0,
+        "object_B_id": 336,
+        "object_B_category": "picture",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 80,
+        "asked_second_object_id": 336
+      }
+    },
+    {
+      "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) lounge (B) dining room (C) bathroom",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "dining room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "lounge",
+          "dining room",
+          "bathroom"
+        ],
+        "query_timestep_internal": 56,
+        "rooms_visited": [
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 41,
+      "question": "From your current viewpoint, is the shelving to the left or right of the chair?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        142,
+        137
+      ],
+      "metadata": {
+        "object_A_id": 142,
+        "object_A_category": "chair",
+        "object_A_position": [
+          10.586199760437012,
+          0.3766709566116333,
+          -1.229390025138855
+        ],
+        "object_B_id": 137,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          11.153499603271484,
+          0.900996208190918,
+          -2.2490298748016357
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          6.777772426605225,
+          0.09358400106430054,
+          0.13891670107841492
+        ],
+        "agent_rotation": [
+          0.6393038034439087,
+          0.0,
+          -0.7689542174339294,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 0,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) bedroom (B) office (C) kitchen",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "office",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_18",
+          "0_5"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "bedroom",
+          "office",
+          "kitchen"
+        ],
+        "context_rooms": "familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 30,
+      "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": 30,
+        "current_room": "hallway",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "hallway",
+          "familyroom/lounge",
+          "dining room",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) living room (B) familyroom/lounge (C) bedroom",
+    "answer": "B",
+    "options": [
+      "living room",
+      "familyroom/lounge",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "familyroom/lounge",
+      "all_options": [
+        "living room",
+        "familyroom/lounge",
+        "bedroom"
+      ],
+      "query_timestep_internal": 48,
+      "rooms_visited": [
+        "dining room",
+        "familyroom/lounge",
+        "hallway",
+        "kitchen"
+      ]
+    }
+  }
+}

test/001392/meta.json

@@ -0,0 +1,186 @@
+{
+  "episode_id": 1392,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Turn 180 degrees and walk across the chairs and towards the grill. Enter the doorway and walk straight across the hall into the bedroom. ', instruction_tokens=[2494, 35, 684, 119, 2584, 85, 2389, 458, 119, 2452, 2389, 1104, 15, 860, 2389, 766, 119, 2584, 2288, 85, 2389, 1121, 1264, 2389, 273, 15])",
+  "instruction_text": "Turn 180 degrees and walk across the chairs and towards the grill. Enter the doorway and walk straight across the hall into the bedroom. ",
+  "num_steps": 75,
+  "total_unique_objects": 366,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 74,
+      "question": "Recall your earlier path. When you passed by the shelving in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        35
+      ],
+      "metadata": {
+        "probe_object_id": 35,
+        "probe_category": "shelving",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 55,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          -12.210700035095215,
+          1.4820184707641602,
+          13.633399963378906
+        ],
+        "agent_position_when_seen": [
+          -6.320654392242432,
+          0.13922199606895447,
+          13.520730972290039
+        ],
+        "pixel_centroid_x": 203.37058823529412,
+        "normalized_position_x": 0.5888327205882353,
+        "object_pixel_count": 340,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 75
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 74,
+      "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,
+        192
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 192,
+        "object_B_category": "objects",
+        "object_B_timestep": 45,
+        "time_gap": 45,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 192
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 49,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) living room (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "living room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "living room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 49,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 1,
+      "question": "Based on your exploration and knowledge of the environment, which area is the utilityroom/toolroom you see now directly connected to? (A) kitchen (B) other room (C) utilityroom/toolroom",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "other room",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_4",
+          "0_5"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "kitchen",
+          "other room",
+          "utilityroom/toolroom"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 27,
+      "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": 27,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "office",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 1,
+    "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) kitchen (B) bathroom (C) bedroom",
+    "answer": "C",
+    "options": [
+      "kitchen",
+      "bathroom",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_0",
+      "adjacent_rooms": [
+        "0_1",
+        "0_5"
+      ],
+      "correct_answer_room": "0_1",
+      "all_options": [
+        "kitchen",
+        "bathroom",
+        "bedroom"
+      ],
+      "context_rooms": "hallway"
+    }
+  }
+}

test/001423/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 1423,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='Go towards the dining room table, turn to the right before reaching it, and go through a doorway across the room.  Wait facing into this area. ', instruction_tokens=[1067, 2452, 2389, 711, 1994, 2342, 2494, 2438, 2389, 1968, 281, 1922, 1272, 119, 1067, 2418, 73, 766, 85, 2389, 1994, 15, 2579, 906, 1264, 2406, 150, 15])",
+  "instruction_text": "Go towards the dining room table, turn to the right before reaching it, and go through a doorway across the room.  Wait facing into this area. ",
+  "num_steps": 41,
+  "total_unique_objects": 213,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 40,
+      "question": "Recall your earlier path. When you passed by the mirror in the dining room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        228
+      ],
+      "metadata": {
+        "probe_object_id": 228,
+        "probe_category": "mirror",
+        "probe_room": "dining room",
+        "probe_region_id": "0_11",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 6,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          1.621559977531433,
+          1.6708498001098633,
+          -9.287989616394043
+        ],
+        "agent_position_when_seen": [
+          5.52170991897583,
+          -0.05441542714834213,
+          -13.697600364685059
+        ],
+        "pixel_centroid_x": 65.75229357798165,
+        "normalized_position_x": -0.4863102064220184,
+        "object_pixel_count": 109,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 41
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 40,
+      "question": "Along your path, did you see the toilet before or after the mirror?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        60
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "toilet",
+        "object_A_timestep": 4,
+        "object_B_id": 60,
+        "object_B_category": "mirror",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 4,
+        "asked_second_object_id": 60
+      }
+    },
+    {
+      "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) dining room (B) porch/terrace/deck (C) bathroom",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "porch/terrace/deck",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "dining room",
+          "porch/terrace/deck",
+          "bathroom"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 15,
+      "question": "From your current viewpoint, is the shower to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        92,
+        245
+      ],
+      "metadata": {
+        "object_A_id": 92,
+        "object_A_category": "bed",
+        "object_A_position": [
+          8.352720260620117,
+          0.4739818572998047,
+          3.744539737701416
+        ],
+        "object_B_id": 245,
+        "object_B_category": "shower",
+        "object_B_position": [
+          0.6565309762954712,
+          1.2303400039672852,
+          -8.184410095214844
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          4.921008586883545,
+          0.05631500482559204,
+          -12.335585594177246
+        ],
+        "agent_rotation": [
+          -0.12002012133598328,
+          0.0,
+          -0.9927715063095093,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 16,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) hallway (B) living room (C) toilet",
+      "answer": "C",
+      "options": [
+        "hallway",
+        "living room",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "hallway",
+          "living room",
+          "toilet"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 20,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 20,
+        "current_room": "dining room",
+        "landmark_room": "living room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "dining room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "dining room",
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 8,
+    "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) hallway (B) kitchen (C) bedroom",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "kitchen",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_12",
+      "adjacent_rooms": [
+        "0_11",
+        "0_14",
+        "0_16"
+      ],
+      "correct_answer_room": "0_14",
+      "all_options": [
+        "hallway",
+        "kitchen",
+        "bedroom"
+      ],
+      "context_rooms": "dining room, hallway"
+    }
+  }
+}

test/001631/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 1631,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Go down the stairs, walk to the patio door, wait at the patio door. ', instruction_tokens=[1067, 780, 2389, 2222, 2584, 2438, 2389, 1737, 757, 2579, 178, 2389, 1737, 757, 15])",
+  "instruction_text": "Go down the stairs, walk to the patio door, wait at the patio door. ",
+  "num_steps": 76,
+  "total_unique_objects": 124,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 75,
+      "question": "Recall your earlier path. When you passed by the cabinet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        192
+      ],
+      "metadata": {
+        "probe_object_id": 192,
+        "probe_category": "cabinet",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_16",
+        "first_seen_timestep": 44,
+        "best_view_timestep": 48,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          5.329619884490967,
+          1.2663198709487915,
+          0.3848820924758911
+        ],
+        "agent_position_when_seen": [
+          7.016632556915283,
+          0.20572906732559204,
+          5.128793716430664
+        ],
+        "pixel_centroid_x": 247.56884057971016,
+        "normalized_position_x": 0.9341315670289856,
+        "object_pixel_count": 276,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 76
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 75,
+      "question": "Along your path, did you see the shower before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        249,
+        200
+      ],
+      "metadata": {
+        "object_A_id": 249,
+        "object_A_category": "table",
+        "object_A_timestep": 9,
+        "object_B_id": 200,
+        "object_B_category": "shower",
+        "object_B_timestep": 19,
+        "time_gap": 10,
+        "asked_first_object_id": 200,
+        "asked_second_object_id": 249
+      }
+    },
+    {
+      "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) stairs (B) living room (C) bathroom",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "living room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "living room",
+          "bathroom"
+        ],
+        "query_timestep_internal": 10,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 46,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        305,
+        13
+      ],
+      "metadata": {
+        "object_A_id": 305,
+        "object_A_category": "chair",
+        "object_A_position": [
+          6.045740127563477,
+          0.5268840789794922,
+          5.914649963378906
+        ],
+        "object_B_id": 13,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          5.675930023193359,
+          1.2941399812698364,
+          -1.3977199792861938
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          7.434363842010498,
+          0.20572906732559204,
+          5.403568267822266
+        ],
+        "agent_rotation": [
+          0.880212664604187,
+          0.0,
+          0.47457945346832275,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 37,
+      "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) outdoor (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "living room",
+        "outdoor",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_23",
+        "adjacent_rooms": [
+          "0_17",
+          "0_18",
+          "0_20",
+          "0_21",
+          "0_22",
+          "0_24",
+          "0_25",
+          "0_26",
+          "0_27",
+          "0_6"
+        ],
+        "correct_answer_room": "0_25",
+        "all_options": [
+          "living room",
+          "outdoor",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 19,
+      "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": 19,
+        "current_room": "kitchen",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "kitchen",
+          "stairs",
+          "kitchen",
+          "familyroom/lounge",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 64,
+    "question": "Based on your exploration and knowledge of the environment, which area is the closet you see now directly connected to? (A) outdoor (B) bathroom (C) closet",
+    "answer": "C",
+    "options": [
+      "outdoor",
+      "bathroom",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_27",
+      "adjacent_rooms": [
+        "0_21",
+        "0_22",
+        "0_23",
+        "0_25",
+        "0_26"
+      ],
+      "correct_answer_room": "0_26",
+      "all_options": [
+        "outdoor",
+        "bathroom",
+        "closet"
+      ],
+      "context_rooms": "hallway, spa/sauna"
+    }
+  }
+}

test/001648/meta.json

@@ -0,0 +1,191 @@
+{
+  "episode_id": 1648,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom, turn right, go up the stairs, wait at the door to the left of the top of the stairs. ', instruction_tokens=[888, 2389, 242, 2494, 1968, 1067, 2527, 2389, 2222, 2579, 178, 2389, 757, 2438, 2389, 1360, 1605, 2389, 2444, 1605, 2389, 2222, 15])",
+  "instruction_text": "Exit the bathroom, turn right, go up the stairs, wait at the door to the left of the top of the stairs. ",
+  "num_steps": 62,
+  "total_unique_objects": 47,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "question": "Recall your earlier path. When you passed by the furniture in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        154
+      ],
+      "metadata": {
+        "probe_object_id": 154,
+        "probe_category": "furniture",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 9,
+        "num_sightings": 5,
+        "spatial_relation": "left",
+        "object_position": [
+          -16.87820053100586,
+          1.2423410415649414,
+          -10.032898902893066
+        ],
+        "agent_position_when_seen": [
+          -8.195260047912598,
+          -0.4622059762477875,
+          -8.214249610900879
+        ],
+        "pixel_centroid_x": 123.24905660377358,
+        "normalized_position_x": -0.03711674528301889,
+        "object_pixel_count": 265,
+        "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 furniture before or after the column?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        483,
+        154
+      ],
+      "metadata": {
+        "object_A_id": 483,
+        "object_A_category": "column",
+        "object_A_timestep": 5,
+        "object_B_id": 154,
+        "object_B_category": "furniture",
+        "object_B_timestep": 8,
+        "time_gap": 3,
+        "asked_first_object_id": 154,
+        "asked_second_object_id": 483
+      }
+    },
+    {
+      "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) familyroom/lounge (B) stairs (C) kitchen",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "stairs",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "familyroom/lounge",
+          "stairs",
+          "kitchen"
+        ],
+        "query_timestep_internal": 59,
+        "rooms_visited": [
+          "bathroom",
+          "familyroom/lounge",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 7,
+      "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) hallway (B) office (C) stairs",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "office",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_12",
+          "0_13"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "hallway",
+          "office",
+          "stairs"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 13,
+      "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": 13,
+        "current_room": "bathroom",
+        "landmark_room": "hallway",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "office",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "familyroom/lounge",
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) familyroom/lounge (B) balcony (C) bedroom",
+    "answer": "A",
+    "options": [
+      "familyroom/lounge",
+      "balcony",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "familyroom/lounge",
+      "all_options": [
+        "familyroom/lounge",
+        "balcony",
+        "bedroom"
+      ],
+      "query_timestep_internal": 54,
+      "rooms_visited": [
+        "bathroom",
+        "familyroom/lounge",
+        "hallway",
+        "office"
+      ]
+    }
+  }
+}

test/001747/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 1747,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and exit the bathroom. Turn left and walk towards the bed. Turn left again and wait by the kitchen sink. ', instruction_tokens=[2494, 1968, 119, 888, 2389, 242, 15, 2494, 1360, 119, 2584, 2452, 2389, 267, 15, 2494, 1360, 95, 119, 2579, 404, 2389, 1306, 2132, 15])",
+  "instruction_text": "Turn right and exit the bathroom. Turn left and walk towards the bed. Turn left again and wait by the kitchen sink. ",
+  "num_steps": 55,
+  "total_unique_objects": 92,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "question": "Recall your earlier path. When you passed by the lighting in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        78
+      ],
+      "metadata": {
+        "probe_object_id": 78,
+        "probe_category": "lighting",
+        "probe_room": "living room",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 37,
+        "best_view_timestep": 40,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          -0.14226999878883362,
+          0.7889649868011475,
+          1.4228098392486572
+        ],
+        "agent_position_when_seen": [
+          -2.164870262145996,
+          0.16666600108146667,
+          1.1880892515182495
+        ],
+        "pixel_centroid_x": 244.95575221238937,
+        "normalized_position_x": 0.913716814159292,
+        "object_pixel_count": 226,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 55
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 54,
+      "question": "Along your path, did you see the appliances before or after the cushion?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        31
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "appliances",
+        "object_A_timestep": 0,
+        "object_B_id": 31,
+        "object_B_category": "cushion",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 31
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 1,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) bathroom (C) dining room",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "bathroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "bedroom",
+          "bathroom",
+          "dining room"
+        ],
+        "query_timestep_internal": 1,
+        "rooms_visited": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 43,
+      "question": "From your current viewpoint, is the appliances to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        68,
+        79
+      ],
+      "metadata": {
+        "object_A_id": 68,
+        "object_A_category": "table",
+        "object_A_position": [
+          -2.4870800971984863,
+          0.33633387088775635,
+          1.6655399799346924
+        ],
+        "object_B_id": 79,
+        "object_B_category": "appliances",
+        "object_B_position": [
+          -2.6851298809051514,
+          0.8721718788146973,
+          0.9433860182762146
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -2.0928261280059814,
+          0.16666600108146667,
+          0.44155752658843994
+        ],
+        "agent_rotation": [
+          0.9988433122634888,
+          0.0,
+          -0.0480848103761673,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 33,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) dining room (B) living room (C) bathroom",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "living room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_3"
+        ],
+        "correct_answer_room": "0_3",
+        "all_options": [
+          "dining room",
+          "living room",
+          "bathroom"
+        ],
+        "context_rooms": "kitchen, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "living room",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "living room",
+          "entryway/foyer/lobby",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom",
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 41,
+    "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) bathroom (C) living room",
+    "answer": "A",
+    "options": [
+      "entryway/foyer/lobby",
+      "bathroom",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_2",
+      "adjacent_rooms": [
+        "0_0",
+        "0_1",
+        "0_3"
+      ],
+      "correct_answer_room": "0_1",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "bathroom",
+        "living room"
+      ],
+      "context_rooms": "kitchen, dining room"
+    }
+  }
+}

test/001750/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 1750,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='enter bedroom and turn left walk left to door, turn left and enter bathroom, walk slight left around shower, stop before toilet and closet. ', instruction_tokens=[860, 273, 119, 2494, 1360, 2584, 1360, 2438, 757, 2494, 1360, 119, 860, 242, 2584, 2162, 1360, 159, 2110, 2278, 281, 2440, 119, 521, 15])",
+  "instruction_text": "enter bedroom and turn left walk left to door, turn left and enter bathroom, walk slight left around shower, stop before toilet and closet. ",
+  "num_steps": 69,
+  "total_unique_objects": 250,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 68,
+      "question": "Recall your earlier path. When you passed by the sink in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        206
+      ],
+      "metadata": {
+        "probe_object_id": 206,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_5",
+        "first_seen_timestep": 51,
+        "best_view_timestep": 54,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          7.093550205230713,
+          4.346079349517822,
+          6.397429466247559
+        ],
+        "agent_position_when_seen": [
+          7.563779830932617,
+          3.702505111694336,
+          -7.898454189300537
+        ],
+        "pixel_centroid_x": 17.756440281030446,
+        "normalized_position_x": -0.8612778103044496,
+        "object_pixel_count": 427,
+        "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 chair before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        92,
+        674
+      ],
+      "metadata": {
+        "object_A_id": 92,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 674,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 674,
+        "asked_second_object_id": 92
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 17,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) bedroom (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "closet",
+        "bedroom",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "closet",
+          "bedroom",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 17,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 50,
+      "question": "From your current viewpoint, is the chair to the left or right of the mirror?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        260,
+        117
+      ],
+      "metadata": {
+        "object_A_id": 260,
+        "object_A_category": "mirror",
+        "object_A_position": [
+          1.30239999294281,
+          4.8482890129089355,
+          8.664798736572266
+        ],
+        "object_B_id": 117,
+        "object_B_category": "chair",
+        "object_B_position": [
+          6.082560062408447,
+          3.910109519958496,
+          2.374069929122925
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          8.267923355102539,
+          3.514145851135254,
+          -8.608510971069336
+        ],
+        "agent_rotation": [
+          0.3807506263256073,
+          0.0,
+          0.9246777296066284,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 49,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) lounge (B) hallway (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "hallway",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_13",
+          "0_17",
+          "0_20",
+          "0_24",
+          "0_27"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "lounge",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "kitchen, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "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": 10,
+        "current_room": "hallway",
+        "landmark_room": "closet",
+        "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": "L1.2_TemporalRelationRecall",
+    "query_timestep": 68,
+    "question": "Along your path, did you see the chair before or after the ?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      92,
+      674
+    ],
+    "metadata": {
+      "object_A_id": 92,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 674,
+      "object_B_category": "chair",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 674,
+      "asked_second_object_id": 92
+    }
+  }
+}

test/001780/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 1780,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Walk out the door.  Walk out the bedroom door to the hallway. Turn right and walk down the hallway. Wait by the next door on your right. ', instruction_tokens=[2584, 1658, 2389, 757, 15, 2584, 1658, 2389, 273, 757, 2438, 2389, 1126, 15, 2494, 1968, 119, 2584, 780, 2389, 1126, 15, 2579, 404, 2389, 1576, 757, 1613, 2706, 1968, 15])",
+  "instruction_text": "Walk out the door.  Walk out the bedroom door to the hallway. Turn right and walk down the hallway. Wait by the next door on your right. ",
+  "num_steps": 62,
+  "total_unique_objects": 162,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "question": "Recall your earlier path. When you passed by the objects in the other room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        130
+      ],
+      "metadata": {
+        "probe_object_id": 130,
+        "probe_category": "objects",
+        "probe_room": "other room",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 9,
+        "num_sightings": 16,
+        "spatial_relation": "left",
+        "object_position": [
+          -11.460800170898438,
+          -2.509181022644043,
+          8.848599433898926
+        ],
+        "agent_position_when_seen": [
+          -16.328126907348633,
+          3.151840925216675,
+          7.325641632080078
+        ],
+        "pixel_centroid_x": 13.885714285714286,
+        "normalized_position_x": -0.8915178571428571,
+        "object_pixel_count": 175,
+        "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 tv_monitor before or after the chair?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        36,
+        224
+      ],
+      "metadata": {
+        "object_A_id": 36,
+        "object_A_category": "chair",
+        "object_A_timestep": 3,
+        "object_B_id": 224,
+        "object_B_category": "tv_monitor",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 224,
+        "asked_second_object_id": 36
+      }
+    },
+    {
+      "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) office (B) hallway (C) garage",
+      "answer": "B",
+      "options": [
+        "office",
+        "hallway",
+        "garage"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "office",
+          "hallway",
+          "garage"
+        ],
+        "query_timestep_internal": 38,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 49,
+      "question": "From your current viewpoint, is the beam to the left or right of the shower?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        14,
+        30
+      ],
+      "metadata": {
+        "object_A_id": 14,
+        "object_A_category": "shower",
+        "object_A_position": [
+          -5.204860210418701,
+          -1.237959861755371,
+          6.451720237731934
+        ],
+        "object_B_id": 30,
+        "object_B_category": "beam",
+        "object_B_position": [
+          -2.3206801414489746,
+          -0.4407479763031006,
+          2.008009910583496
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -9.700775146484375,
+          3.151840925216675,
+          5.840749740600586
+        ],
+        "agent_rotation": [
+          -0.7410168647766113,
+          0.0,
+          0.6714864373207092,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 20,
+      "question": "You are currently in the bedroom, and you can see the hallway, other room. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) familyroom/lounge (B) closet (C) bathroom",
+      "answer": "C",
+      "options": [
+        "familyroom/lounge",
+        "closet",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_31",
+        "adjacent_rooms": [
+          "2_30",
+          "2_34",
+          "2_35"
+        ],
+        "correct_answer_room": "2_35",
+        "all_options": [
+          "familyroom/lounge",
+          "closet",
+          "bathroom"
+        ],
+        "context_rooms": "hallway, other room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "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": 10,
+        "current_room": "bathroom",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 61,
+    "question": "Along your path, did you see the tv_monitor before or after the chair?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      36,
+      224
+    ],
+    "metadata": {
+      "object_A_id": 36,
+      "object_A_category": "chair",
+      "object_A_timestep": 3,
+      "object_B_id": 224,
+      "object_B_category": "tv_monitor",
+      "object_B_timestep": 6,
+      "time_gap": 3,
+      "asked_first_object_id": 224,
+      "asked_second_object_id": 36
+    }
+  }
+}

test/001794/meta.json

@@ -0,0 +1,188 @@
+{
+  "episode_id": 1794,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Exit the sitting room, walk through the kitchen, enter the dining room, wait at the armoire. ', instruction_tokens=[888, 2389, 2139, 1994, 2584, 2418, 2389, 1306, 860, 2389, 711, 1994, 2579, 178, 2389, 157, 15])",
+  "instruction_text": "Exit the sitting room, walk through the kitchen, enter the dining room, wait at the armoire. ",
+  "num_steps": 43,
+  "total_unique_objects": 144,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 42,
+      "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        120
+      ],
+      "metadata": {
+        "probe_object_id": 120,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_5",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 14,
+        "num_sightings": 15,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.1579599380493164,
+          3.291229724884033,
+          -0.21461868286132812
+        ],
+        "agent_position_when_seen": [
+          -5.563394546508789,
+          0.11627800017595291,
+          1.7352828979492188
+        ],
+        "pixel_centroid_x": 32.09045226130653,
+        "normalized_position_x": -0.7492933417085428,
+        "object_pixel_count": 398,
+        "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 lighting?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        21,
+        329
+      ],
+      "metadata": {
+        "object_A_id": 21,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 329,
+        "object_B_category": "lighting",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 21,
+        "asked_second_object_id": 329
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 8,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) bedroom (C) kitchen",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "bathroom",
+          "bedroom",
+          "kitchen"
+        ],
+        "query_timestep_internal": 8,
+        "rooms_visited": [
+          "dining room",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 37,
+      "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) living room (C) hallway",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "living room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_17",
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "bathroom",
+          "living room",
+          "hallway"
+        ],
+        "context_rooms": "dining room, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "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": 10,
+        "current_room": "kitchen",
+        "landmark_room": "bedroom",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "kitchen",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 4,
+    "question": "You are currently in the kitchen, and you can see the laundryroom/mudroom, dining room. Based on your understanding of the environment layout, which other area is the kitchen directly connected to? (A) bathroom (B) bedroom (C) living room",
+    "answer": "C",
+    "options": [
+      "bathroom",
+      "bedroom",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_17",
+      "adjacent_rooms": [
+        "0_10",
+        "0_11",
+        "0_14",
+        "0_15",
+        "0_16",
+        "0_4"
+      ],
+      "correct_answer_room": "0_15",
+      "all_options": [
+        "bathroom",
+        "bedroom",
+        "living room"
+      ],
+      "context_rooms": "laundryroom/mudroom, dining room"
+    }
+  }
+}

test/001825/meta.json

@@ -0,0 +1,262 @@
+{
+  "episode_id": 1825,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Go to the door out of the kitchen. and through the small hallway to the left of the dining room with the large table.  Turn into the door as soon as you pass a painting of a boy walking on a beach. ', instruction_tokens=[1067, 2438, 2389, 757, 1658, 1605, 2389, 1306, 15, 119, 2418, 2389, 2170, 1126, 2438, 2389, 1360, 1605, 2389, 711, 1994, 2661, 2389, 1336, 2342, 15, 2494, 1264, 2389, 757, 170, 2189, 170, 2703, 1721, 73, 1688, 1605, 73, 357, 2588, 1613, 73, 253, 15])",
+  "instruction_text": "Go to the door out of the kitchen. and through the small hallway to the left of the dining room with the large table.  Turn into the door as soon as you pass a painting of a boy walking on a beach. ",
+  "num_steps": 101,
+  "total_unique_objects": 492,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 100,
+      "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": 34,
+        "best_view_timestep": 38,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -11.760000228881836,
+          1.4301600456237793,
+          6.072999954223633
+        ],
+        "agent_position_when_seen": [
+          -4.8041582107543945,
+          0.13922199606895447,
+          4.957891941070557
+        ],
+        "pixel_centroid_x": 5.868421052631579,
+        "normalized_position_x": -0.9541529605263158,
+        "object_pixel_count": 228,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 101
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 100,
+      "question": "Along your path, did you see the  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        24,
+        676
+      ],
+      "metadata": {
+        "object_A_id": 24,
+        "object_A_category": "",
+        "object_A_timestep": 14,
+        "object_B_id": 676,
+        "object_B_category": "objects",
+        "object_B_timestep": 18,
+        "time_gap": 4,
+        "asked_first_object_id": 24,
+        "asked_second_object_id": 676
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 51,
+      "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": 51,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck",
+          "utilityroom/toolroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 81,
+      "question": "From your current viewpoint, is the shelving to the left or right of the picture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        459,
+        435
+      ],
+      "metadata": {
+        "object_A_id": 459,
+        "object_A_category": "picture",
+        "object_A_position": [
+          6.655399799346924,
+          2.3056797981262207,
+          0.8078651428222656
+        ],
+        "object_B_id": 435,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          3.712399959564209,
+          1.2914799451828003,
+          -0.7115470170974731
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          1.6442056894302368,
+          0.13922199606895447,
+          -1.2711420059204102
+        ],
+        "agent_rotation": [
+          -0.8871339559555054,
+          0.0,
+          0.46151208877563477,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 18,
+      "question": "Based on your exploration and knowledge of the environment, which area is the workout/gym/exercise you see now directly connected to? (A) hallway (B) laundryroom/mudroom (C) porch/terrace/deck",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "laundryroom/mudroom",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_12",
+          "0_15",
+          "0_16",
+          "0_18",
+          "0_19",
+          "0_20"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "hallway",
+          "laundryroom/mudroom",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 36,
+      "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": 36,
+        "current_room": "kitchen",
+        "landmark_room": "hallway",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "kitchen",
+          "porch/terrace/deck",
+          "hallway",
+          "dining room",
+          "hallway",
+          "living room",
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck",
+          "utilityroom/toolroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen",
+          "utilityroom/toolroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 15,
+    "question": "From your current position, will you pass through the dining room on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 15,
+      "current_room": "kitchen",
+      "landmark_room": "dining room",
+      "final_room": "bathroom",
+      "remaining_rooms": [
+        "kitchen",
+        "porch/terrace/deck",
+        "hallway",
+        "dining room",
+        "hallway",
+        "living room",
+        "hallway",
+        "bathroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "dining room",
+        "hallway",
+        "kitchen",
+        "living room",
+        "porch/terrace/deck",
+        "utilityroom/toolroom"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "kitchen",
+        "utilityroom/toolroom"
+      ]
+    }
+  }
+}

test/001836/meta.json

@@ -0,0 +1,168 @@
+{
+  "episode_id": 1836,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='leave room go straight down hall way to hallway on left. Turn left and go straight. Stop at balcony on right. ', instruction_tokens=[1355, 1994, 1067, 2288, 780, 1121, 2616, 2438, 1126, 1613, 1360, 15, 2494, 1360, 119, 1067, 2288, 15, 2278, 178, 203, 1613, 1968, 15])",
+  "instruction_text": "leave room go straight down hall way to hallway on left. Turn left and go straight. Stop at balcony on right. ",
+  "num_steps": 47,
+  "total_unique_objects": 504,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 46,
+      "question": "Recall your earlier path. When you passed by the stool in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        662
+      ],
+      "metadata": {
+        "probe_object_id": 662,
+        "probe_category": "stool",
+        "probe_room": "living room",
+        "probe_region_id": "0_17",
+        "first_seen_timestep": 38,
+        "best_view_timestep": 43,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          10.725799560546875,
+          0.17445102334022522,
+          -0.47223395109176636
+        ],
+        "agent_position_when_seen": [
+          8.066252708435059,
+          3.514145851135254,
+          5.206974983215332
+        ],
+        "pixel_centroid_x": 179.2972972972973,
+        "normalized_position_x": 0.4007601351351351,
+        "object_pixel_count": 185,
+        "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 cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        574,
+        316
+      ],
+      "metadata": {
+        "object_A_id": 574,
+        "object_A_category": "sofa",
+        "object_A_timestep": 6,
+        "object_B_id": 316,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 10,
+        "time_gap": 4,
+        "asked_first_object_id": 574,
+        "asked_second_object_id": 316
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 8,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) hallway (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "dining room",
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "dining room",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 8,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 34,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        508,
+        420
+      ],
+      "metadata": {
+        "object_A_id": 508,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          14.324199676513672,
+          0.4035320281982422,
+          10.302799224853516
+        ],
+        "object_B_id": 420,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          6.247660160064697,
+          1.8901586532592773,
+          12.713099479675293
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          7.894516468048096,
+          3.514145851135254,
+          7.450413227081299
+        ],
+        "agent_rotation": [
+          -0.9992704391479492,
+          0.0,
+          0.038191329687833786,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 46,
+    "question": "Along your path, did you see the sofa before or after the cabinet?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      574,
+      316
+    ],
+    "metadata": {
+      "object_A_id": 574,
+      "object_A_category": "sofa",
+      "object_A_timestep": 6,
+      "object_B_id": 316,
+      "object_B_category": "cabinet",
+      "object_B_timestep": 10,
+      "time_gap": 4,
+      "asked_first_object_id": 574,
+      "asked_second_object_id": 316
+    }
+  }
+}

test/001873/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 1873,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Walked past sink, turn right at oven and walk straight. Turn left into doorway. Walk towards stairway, go straight, and turn left and wait at large doorway. ', instruction_tokens=[2587, 1728, 2132, 2494, 1968, 178, 1667, 119, 2584, 2288, 15, 2494, 1360, 1264, 766, 15, 2584, 2452, 2225, 1067, 2288, 119, 2494, 1360, 119, 2579, 178, 1336, 766, 15])",
+  "instruction_text": "Walked past sink, turn right at oven and walk straight. Turn left into doorway. Walk towards stairway, go straight, and turn left and wait at large doorway. ",
+  "num_steps": 68,
+  "total_unique_objects": 242,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 67,
+      "question": "Recall your earlier path. When you passed by the table in the lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        386
+      ],
+      "metadata": {
+        "probe_object_id": 386,
+        "probe_category": "table",
+        "probe_room": "lounge",
+        "probe_region_id": "1_18",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 27,
+        "num_sightings": 11,
+        "spatial_relation": "left",
+        "object_position": [
+          -4.555290222167969,
+          0.30048131942749023,
+          -7.766529083251953
+        ],
+        "agent_position_when_seen": [
+          -5.071776866912842,
+          -3.240571975708008,
+          5.779363632202148
+        ],
+        "pixel_centroid_x": 104.54368932038835,
+        "normalized_position_x": -0.183252427184466,
+        "object_pixel_count": 206,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 68
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 67,
+      "question": "Along your path, did you see the cabinet before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        81,
+        33
+      ],
+      "metadata": {
+        "object_A_id": 81,
+        "object_A_category": "sofa",
+        "object_A_timestep": 3,
+        "object_B_id": 33,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 33,
+        "asked_second_object_id": 81
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 55,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) bathroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "bathroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "lounge",
+          "bathroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 55,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 11,
+      "question": "From your current viewpoint, is the sofa to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        102,
+        105
+      ],
+      "metadata": {
+        "object_A_id": 102,
+        "object_A_category": "table",
+        "object_A_position": [
+          -4.004899978637695,
+          -1.9623703956604004,
+          2.678149700164795
+        ],
+        "object_B_id": 105,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          -5.094329833984375,
+          -2.8263001441955566,
+          1.196779727935791
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -5.17172384262085,
+          -3.240571975708008,
+          8.996745109558105
+        ],
+        "agent_rotation": [
+          0.9999924302101135,
+          0.0,
+          0.0038935095071792603,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 8,
+      "question": "Based on your exploration and knowledge of the environment, which area is the lounge you see now directly connected to? (A) porch/terrace/deck (B) bedroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_19",
+        "adjacent_rooms": [
+          "1_17",
+          "1_18",
+          "1_20"
+        ],
+        "correct_answer_room": "1_17",
+        "all_options": [
+          "porch/terrace/deck",
+          "bedroom",
+          "hallway"
+        ],
+        "context_rooms": "lounge, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "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": 3,
+        "current_room": "kitchen",
+        "landmark_room": "dining room",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "kitchen",
+          "familyroom/lounge",
+          "hallway",
+          "living room"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 42,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) dining room (C) kitchen",
+    "answer": "C",
+    "options": [
+      "bedroom",
+      "dining room",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "bedroom",
+        "dining room",
+        "kitchen"
+      ],
+      "query_timestep_internal": 42,
+      "rooms_visited": [
+        "familyroom/lounge",
+        "hallway",
+        "kitchen",
+        "living room"
+      ]
+    }
+  }
+}

test/001895/meta.json

@@ -0,0 +1,204 @@
+{
+  "episode_id": 1895,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VzqfbhrpDEA/VzqfbhrpDEA.glb",
+  "instruction": "InstructionData(instruction_text='Take a left after the dresser and walk out of the room. Wait in the hallway just outside the room. ', instruction_tokens=[2352, 73, 1360, 94, 2389, 797, 119, 2584, 1658, 1605, 2389, 1994, 15, 2579, 1237, 2389, 1126, 1293, 1665, 2389, 1994, 15])",
+  "instruction_text": "Take a left after the dresser and walk out of the room. Wait in the hallway just outside the room. ",
+  "num_steps": 24,
+  "total_unique_objects": 480,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 23,
+      "question": "Recall your earlier path. When you passed by the objects in the other room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1641
+      ],
+      "metadata": {
+        "probe_object_id": 1641,
+        "probe_category": "objects",
+        "probe_room": "other room",
+        "probe_region_id": "0_42",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 2,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          -32.52859878540039,
+          2.6797900199890137,
+          -0.23288989067077637
+        ],
+        "agent_position_when_seen": [
+          -32.27168655395508,
+          0.09100902080535889,
+          -4.638400554656982
+        ],
+        "pixel_centroid_x": 179.0788643533123,
+        "normalized_position_x": 0.3990536277602523,
+        "object_pixel_count": 634,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 24
+      }
+    },
+    {
+      "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) utilityroom/toolroom (B) laundryroom/mudroom (C) closet",
+      "answer": "C",
+      "options": [
+        "utilityroom/toolroom",
+        "laundryroom/mudroom",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "closet",
+        "all_options": [
+          "utilityroom/toolroom",
+          "laundryroom/mudroom",
+          "closet"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "closet",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the counter to the left or right of the shower?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        106,
+        83
+      ],
+      "metadata": {
+        "object_A_id": 106,
+        "object_A_category": "shower",
+        "object_A_position": [
+          -30.85540008544922,
+          1.412489891052246,
+          0.044120192527770996
+        ],
+        "object_B_id": 83,
+        "object_B_category": "counter",
+        "object_B_position": [
+          -26.604900360107422,
+          0.9186959266662598,
+          0.0313572883605957
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -32.19826126098633,
+          0.09100902080535889,
+          -4.1438212394714355
+        ],
+        "agent_rotation": [
+          0.3292340934276581,
+          0.0,
+          -0.9442483186721802,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) dining room (B) office (C) bedroom",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "office",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_10",
+          "0_12",
+          "0_15",
+          "0_17",
+          "0_22",
+          "0_41",
+          "0_43",
+          "0_8"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "dining room",
+          "office",
+          "bedroom"
+        ],
+        "context_rooms": "garage, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "closet",
+        "landmark_room": "tv",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "closet",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "closet",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "closet"
+        ]
+      }
+    }
+  ],
+  "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) workout/gym/exercise (B) garage (C) closet",
+    "answer": "C",
+    "options": [
+      "workout/gym/exercise",
+      "garage",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "closet",
+      "all_options": [
+        "workout/gym/exercise",
+        "garage",
+        "closet"
+      ],
+      "query_timestep_internal": 19,
+      "rooms_visited": [
+        "closet",
+        "hallway"
+      ]
+    }
+  }
+}

test/001962/meta.json

@@ -0,0 +1,226 @@
+{
+  "episode_id": 1962,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward passing the table on the left and take a left at the walkway and head to the main entry door on the left. Step outside of the door and stand on the welcome mat. ', instruction_tokens=[2584, 993, 1727, 2389, 2342, 1613, 2389, 1360, 119, 2352, 73, 1360, 178, 2389, 2592, 119, 1162, 2438, 2389, 1445, 871, 757, 1613, 2389, 1360, 15, 2260, 1665, 1605, 2389, 757, 119, 2235, 1613, 2389, 2620, 1476, 15])",
+  "instruction_text": "Walk forward passing the table on the left and take a left at the walkway and head to the main entry door on the left. Step outside of the door and stand on the welcome mat. ",
+  "num_steps": 70,
+  "total_unique_objects": 465,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 69,
+      "question": "Recall your earlier path. When you passed by the shelving in the closet, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        952
+      ],
+      "metadata": {
+        "probe_object_id": 952,
+        "probe_category": "shelving",
+        "probe_room": "closet",
+        "probe_region_id": "1_28",
+        "first_seen_timestep": 42,
+        "best_view_timestep": 42,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          13.129899978637695,
+          5.602300643920898,
+          -2.079509973526001
+        ],
+        "agent_position_when_seen": [
+          7.519497871398926,
+          0.11414599418640137,
+          2.521627902984619
+        ],
+        "pixel_centroid_x": 245.12745098039215,
+        "normalized_position_x": 0.9150582107843137,
+        "object_pixel_count": 102,
+        "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  before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        92,
+        204
+      ],
+      "metadata": {
+        "object_A_id": 92,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 204,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 92,
+        "asked_second_object_id": 204
+      }
+    },
+    {
+      "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) lounge (B) stairs (C) hallway",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "stairs",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "lounge",
+          "stairs",
+          "hallway"
+        ],
+        "query_timestep_internal": 66,
+        "rooms_visited": [
+          "dining room",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the sofa to the left or right of the fireplace?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        676,
+        626
+      ],
+      "metadata": {
+        "object_A_id": 676,
+        "object_A_category": "fireplace",
+        "object_A_position": [
+          11.28219985961914,
+          1.1742095947265625,
+          5.8856096267700195
+        ],
+        "object_B_id": 626,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          10.980899810791016,
+          0.3004070520401001,
+          1.3220701217651367
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          3.736114025115967,
+          0.11414599418640137,
+          5.594886302947998
+        ],
+        "agent_rotation": [
+          -0.7603079080581665,
+          0.0,
+          0.6495627760887146,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 57,
+      "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) lounge (C) bedroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "lounge",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_24",
+        "adjacent_rooms": [
+          "0_16",
+          "0_18",
+          "0_20"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "hallway",
+          "lounge",
+          "bedroom"
+        ],
+        "context_rooms": "dining room, office"
+      }
+    },
+    {
+      "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": "dining room",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "dining room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 69,
+    "question": "Along your path, did you see the cabinet before or after the ?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      92,
+      204
+    ],
+    "metadata": {
+      "object_A_id": 92,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 204,
+      "object_B_category": "cabinet",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 204,
+      "asked_second_object_id": 92
+    }
+  }
+}

test/001968/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 1968,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward into the work space and go down the second set of black stairs on your left. walk around the easel and stop next to the unicycle. ', instruction_tokens=[2584, 993, 1264, 2389, 2678, 2193, 119, 1067, 780, 2389, 2054, 2073, 1605, 314, 2222, 1613, 2706, 1360, 15, 2584, 159, 2389, 819, 119, 2278, 1576, 2438, 2389, 2521, 15])",
+  "instruction_text": "Walk forward into the work space and go down the second set of black stairs on your left. walk around the easel and stop next to the unicycle. ",
+  "num_steps": 69,
+  "total_unique_objects": 279,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 68,
+      "question": "Recall your earlier path. When you passed by the picture in the lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        241
+      ],
+      "metadata": {
+        "probe_object_id": 241,
+        "probe_category": "picture",
+        "probe_room": "lounge",
+        "probe_region_id": "1_10",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 14,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          17.328899383544922,
+          1.367030143737793,
+          4.295199871063232
+        ],
+        "agent_position_when_seen": [
+          19.392494201660156,
+          0.09357202053070068,
+          -3.7437076568603516
+        ],
+        "pixel_centroid_x": 180.0353982300885,
+        "normalized_position_x": 0.40652654867256643,
+        "object_pixel_count": 113,
+        "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  before or after the cabinet?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        11
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 1,
+        "object_B_id": 11,
+        "object_B_category": "",
+        "object_B_timestep": 4,
+        "time_gap": 3,
+        "asked_first_object_id": 11,
+        "asked_second_object_id": 6
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 68,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) other room (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "hallway",
+        "other room",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "hallway",
+          "other room",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 68,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "lounge",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 39,
+      "question": "From your current viewpoint, is the stairs to the left or right of the counter?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        33,
+        49
+      ],
+      "metadata": {
+        "object_A_id": 33,
+        "object_A_category": "counter",
+        "object_A_position": [
+          24.634700775146484,
+          -0.3879539668560028,
+          -0.0024355053901672363
+        ],
+        "object_B_id": 49,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          20.785999298095703,
+          -0.5735639929771423,
+          0.9221999645233154
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          20.217079162597656,
+          -0.19710904359817505,
+          0.7044557332992554
+        ],
+        "agent_rotation": [
+          0.3394148349761963,
+          0.0,
+          -0.9406367540359497,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 13,
+      "question": "Based on your exploration and knowledge of the environment, which area is the lounge you see now directly connected to? (A) lounge (B) entryway/foyer/lobby (C) stairs",
+      "answer": "A",
+      "options": [
+        "lounge",
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_10",
+        "adjacent_rooms": [
+          "1_13",
+          "1_14"
+        ],
+        "correct_answer_room": "1_13",
+        "all_options": [
+          "lounge",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "context_rooms": "office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 32,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 32,
+        "current_room": "stairs",
+        "landmark_room": "kitchen",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "stairs",
+          "kitchen",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "lounge",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "lounge",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 67,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) other room (C) porch/terrace/deck",
+    "answer": "A",
+    "options": [
+      "entryway/foyer/lobby",
+      "other room",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "entryway/foyer/lobby",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "other room",
+        "porch/terrace/deck"
+      ],
+      "query_timestep_internal": 67,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "kitchen",
+        "lounge",
+        "stairs"
+      ]
+    }
+  }
+}

test/001986/meta.json

@@ -0,0 +1,206 @@
+{
+  "episode_id": 1986,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Turn about 45 degress to the right.\\r\\nWalk through the doorway.\\r\\nTurn 45 degrees to the left.\\r\\nWalk straight down the hallway along the banister.\\r\\nStop at the end of the hall between the two doors. ', instruction_tokens=[2494, 77, 58, 685, 2438, 2389, 1968, 15, 2584, 2418, 2389, 766, 15, 2494, 58, 684, 2438, 2389, 1360, 15, 2584, 2288, 780, 2389, 1126, 108, 2389, 211, 15, 2278, 178, 2389, 851, 1605, 2389, 1121, 294, 2389, 2509, 762, 15])",
+  "instruction_text": "Turn about 45 degress to the right.\r\nWalk through the doorway.\r\nTurn 45 degrees to the left.\r\nWalk straight down the hallway along the banister.\r\nStop at the end of the hall between the two doors. ",
+  "num_steps": 54,
+  "total_unique_objects": 215,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "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": [
+        1050
+      ],
+      "metadata": {
+        "probe_object_id": 1050,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_43",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 6,
+        "num_sightings": 10,
+        "spatial_relation": "right",
+        "object_position": [
+          5.273509979248047,
+          4.202199935913086,
+          -4.4083099365234375
+        ],
+        "agent_position_when_seen": [
+          -1.859279990196228,
+          3.8914499282836914,
+          -13.772199630737305
+        ],
+        "pixel_centroid_x": 191.96761133603238,
+        "normalized_position_x": 0.49974696356275294,
+        "object_pixel_count": 247,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 54
+      }
+    },
+    {
+      "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) dining room (B) familyroom/lounge (C) hallway",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "familyroom/lounge",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "dining room",
+          "familyroom/lounge",
+          "hallway"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 19,
+      "question": "From your current viewpoint, is the furniture to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1093,
+        1069
+      ],
+      "metadata": {
+        "object_A_id": 1093,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          5.79472017288208,
+          5.07712984085083,
+          5.331160068511963
+        ],
+        "object_B_id": 1069,
+        "object_B_category": "furniture",
+        "object_B_position": [
+          5.751570224761963,
+          5.040209770202637,
+          0.8684601783752441
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -0.685085654258728,
+          3.8914499282836914,
+          -12.55986499786377
+        ],
+        "agent_rotation": [
+          0.6335976123809814,
+          0.0,
+          -0.773662805557251,
+          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) porch/terrace/deck (B) office (C) hallway",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "office",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_27",
+        "adjacent_rooms": [
+          "2_25",
+          "2_26",
+          "2_28",
+          "2_30",
+          "2_44",
+          "2_46"
+        ],
+        "correct_answer_room": "2_44",
+        "all_options": [
+          "porch/terrace/deck",
+          "office",
+          "hallway"
+        ],
+        "context_rooms": "lounge, lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 26,
+      "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": 26,
+        "current_room": "hallway",
+        "landmark_room": "stairs",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 34,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) hallway (C) lounge",
+    "answer": "B",
+    "options": [
+      "porch/terrace/deck",
+      "hallway",
+      "lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "porch/terrace/deck",
+        "hallway",
+        "lounge"
+      ],
+      "query_timestep_internal": 34,
+      "rooms_visited": [
+        "bedroom",
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

test/001987/meta.json

@@ -0,0 +1,205 @@
+{
+  "episode_id": 1987,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Veer to the right slightly. Walk into a hallway, continue going straight, past the staircase.  When you get to a wooden doorway, stop there, and wait. ', instruction_tokens=[2552, 2438, 2389, 1968, 2164, 15, 2584, 1264, 73, 1126, 569, 1071, 2288, 1728, 2389, 2220, 15, 2632, 2703, 1046, 2438, 73, 2672, 766, 2278, 2395, 119, 2579, 15])",
+  "instruction_text": "Veer to the right slightly. Walk into a hallway, continue going straight, past the staircase.  When you get to a wooden doorway, stop there, and wait. ",
+  "num_steps": 54,
+  "total_unique_objects": 215,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "question": "Recall your earlier path. When you passed by the cushion in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        672
+      ],
+      "metadata": {
+        "probe_object_id": 672,
+        "probe_category": "cushion",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_27",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 12,
+        "num_sightings": 6,
+        "spatial_relation": "right",
+        "object_position": [
+          -1.6707500219345093,
+          4.6879401206970215,
+          0.7390270233154297
+        ],
+        "agent_position_when_seen": [
+          -1.4438862800598145,
+          3.8914499282836914,
+          -13.147741317749023
+        ],
+        "pixel_centroid_x": 223.5234521575985,
+        "normalized_position_x": 0.7462769699812384,
+        "object_pixel_count": 533,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 54
+      }
+    },
+    {
+      "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) dining room (B) bathroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "bathroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "dining room",
+          "bathroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 47,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the cushion to the left or right of the bed?",
+      "answer": "left",
+      "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": "left",
+        "agent_position": [
+          -1.859279990196228,
+          3.8914499282836914,
+          -13.772199630737305
+        ],
+        "agent_rotation": [
+          0.4117696285247803,
+          0.0,
+          -0.9112880229949951,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "You are currently in the bedroom, and you can see the hallway, hallway. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) porch/terrace/deck (B) bedroom (C) toilet",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "bedroom",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_32",
+        "adjacent_rooms": [
+          "2_30",
+          "2_31",
+          "2_33",
+          "2_34",
+          "2_35"
+        ],
+        "correct_answer_room": "2_31",
+        "all_options": [
+          "porch/terrace/deck",
+          "bedroom",
+          "toilet"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "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": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "hallway",
+        "landmark_room": "stairs",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 24,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) hallway (C) lounge",
+    "answer": "B",
+    "options": [
+      "bathroom",
+      "hallway",
+      "lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "bathroom",
+        "hallway",
+        "lounge"
+      ],
+      "query_timestep_internal": 24,
+      "rooms_visited": [
+        "bedroom",
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

test/002097/meta.json

@@ -0,0 +1,201 @@
+{
+  "episode_id": 2097,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/V2XKFyX4ASd/V2XKFyX4ASd.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the bedroom passed the bed and dresser made of raw wood. Walk through the open door near the dresser out into the living room area. Walk passed the floor lamp and around the corner. Continue past the pool table and walk into the open door in the corner of the room near the bar stools. ', instruction_tokens=[2584, 2418, 2389, 273, 1725, 2389, 267, 119, 797, 1442, 1605, 1917, 2668, 15, 2584, 2418, 2389, 1625, 757, 1563, 2389, 797, 1658, 1264, 2389, 1404, 1994, 150, 15, 2584, 1725, 2389, 959, 1325, 119, 159, 2389, 589, 15, 569, 1728, 2389, 1846, 2342, 119, 2584, 1264, 2389, 1625, 757, 1237, 2389, 589, 1605, 2389, 1994, 1563, 2389, 217, 2276, 15])",
+  "instruction_text": "Walk through the bedroom passed the bed and dresser made of raw wood. Walk through the open door near the dresser out into the living room area. Walk passed the floor lamp and around the corner. Continue past the pool table and walk into the open door in the corner of the room near the bar stools. ",
+  "num_steps": 60,
+  "total_unique_objects": 137,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 59,
+      "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": [
+        317
+      ],
+      "metadata": {
+        "probe_object_id": 317,
+        "probe_category": "toilet",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_10",
+        "first_seen_timestep": 32,
+        "best_view_timestep": 35,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          9.64579963684082,
+          3.285179853439331,
+          0.8865811824798584
+        ],
+        "agent_position_when_seen": [
+          5.60442590713501,
+          3.1652450561523438,
+          -4.064037322998047
+        ],
+        "pixel_centroid_x": 125.87645687645687,
+        "normalized_position_x": -0.016590180652680697,
+        "object_pixel_count": 429,
+        "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  before or after the bathtub?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        20,
+        324
+      ],
+      "metadata": {
+        "object_A_id": 20,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 324,
+        "object_B_category": "bathtub",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 20,
+        "asked_second_object_id": 324
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 17,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) tv (B) balcony (C) rec/game",
+      "answer": "C",
+      "options": [
+        "tv",
+        "balcony",
+        "rec/game"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "rec/game",
+        "all_options": [
+          "tv",
+          "balcony",
+          "rec/game"
+        ],
+        "query_timestep_internal": 17,
+        "rooms_visited": [
+          "bedroom",
+          "rec/game"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the stool to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        336,
+        342
+      ],
+      "metadata": {
+        "object_A_id": 336,
+        "object_A_category": "bed",
+        "object_A_position": [
+          4.156710147857666,
+          3.623769760131836,
+          3.1826400756835938
+        ],
+        "object_B_id": 342,
+        "object_B_category": "stool",
+        "object_B_position": [
+          2.663409948348999,
+          3.2140798568725586,
+          4.061739921569824
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          2.4392001628875732,
+          2.9030959606170654,
+          -6.15861177444458
+        ],
+        "agent_rotation": [
+          0.143890842795372,
+          0.0,
+          -0.9895935654640198,
+          0.0
+        ]
+      }
+    },
+    {
+      "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) rec/game (B) bathroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "rec/game",
+        "bathroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_25",
+          "0_27",
+          "0_4"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "rec/game",
+          "bathroom",
+          "stairs"
+        ],
+        "context_rooms": "closet, junk"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 13,
+    "question": "From your current position, will you pass through the rec/game on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 13,
+      "current_room": "bedroom",
+      "landmark_room": "rec/game",
+      "final_room": "rec/game",
+      "remaining_rooms": [
+        "bedroom",
+        "rec/game"
+      ],
+      "all_rooms_in_trajectory": [
+        "bedroom",
+        "rec/game"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "bedroom"
+      ]
+    }
+  }
+}

test/002106/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 2106,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text='Leave the room and take a left. Go down the hall and into the bedroom at the end of the hall. Stop in the room once you pass the door. ', instruction_tokens=[1355, 2389, 1994, 119, 2352, 73, 1360, 15, 1067, 780, 2389, 1121, 119, 1264, 2389, 273, 178, 2389, 851, 1605, 2389, 1121, 15, 2278, 1237, 2389, 1994, 1615, 2703, 1721, 2389, 757, 15])",
+  "instruction_text": "Leave the room and take a left. Go down the hall and into the bedroom at the end of the hall. Stop in the room once you pass the door. ",
+  "num_steps": 43,
+  "total_unique_objects": 86,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 42,
+      "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": [
+        426
+      ],
+      "metadata": {
+        "probe_object_id": 426,
+        "probe_category": "table",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_17",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 21,
+        "num_sightings": 11,
+        "spatial_relation": "left",
+        "object_position": [
+          15.292400360107422,
+          0.1520061492919922,
+          6.405109882354736
+        ],
+        "agent_position_when_seen": [
+          9.85280704498291,
+          3.628255844116211,
+          4.339909553527832
+        ],
+        "pixel_centroid_x": 13.606986899563319,
+        "normalized_position_x": -0.8936954148471615,
+        "object_pixel_count": 229,
+        "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 curtain before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        1
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "curtain",
+        "object_A_timestep": 7,
+        "object_B_id": 1,
+        "object_B_category": "bed",
+        "object_B_timestep": 15,
+        "time_gap": 8,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 1
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 30,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) closet (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "closet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "living room",
+          "closet",
+          "hallway"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 29,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        419,
+        497
+      ],
+      "metadata": {
+        "object_A_id": 419,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          15.884401321411133,
+          0.38254690170288086,
+          7.251150131225586
+        ],
+        "object_B_id": 497,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          14.9753999710083,
+          0.4605329632759094,
+          -0.27684590220451355
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          11.345331192016602,
+          3.628255844116211,
+          4.37270450592041
+        ],
+        "agent_rotation": [
+          0.7146273255348206,
+          0.0,
+          -0.6995054483413696,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 25,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) familyroom/lounge (B) stairs (C) bathroom",
+      "answer": "C",
+      "options": [
+        "familyroom/lounge",
+        "stairs",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_0",
+        "adjacent_rooms": [
+          "1_1",
+          "1_10",
+          "1_7",
+          "1_9"
+        ],
+        "correct_answer_room": "1_10",
+        "all_options": [
+          "familyroom/lounge",
+          "stairs",
+          "bathroom"
+        ],
+        "context_rooms": "bedroom, closet"
+      }
+    },
+    {
+      "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": "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": "L1.2_TemporalRelationRecall",
+    "query_timestep": 42,
+    "question": "Along your path, did you see the curtain before or after the bed?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      2,
+      1
+    ],
+    "metadata": {
+      "object_A_id": 2,
+      "object_A_category": "curtain",
+      "object_A_timestep": 7,
+      "object_B_id": 1,
+      "object_B_category": "bed",
+      "object_B_timestep": 15,
+      "time_gap": 8,
+      "asked_first_object_id": 2,
+      "asked_second_object_id": 1
+    }
+  }
+}

test/002244/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 2244,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Exit bathroom to bedroom, walk slight left through study into hallway. Stop in hall. ', instruction_tokens=[888, 242, 2438, 273, 2584, 2162, 1360, 2418, 2305, 1264, 1126, 15, 2278, 1237, 1121, 15])",
+  "instruction_text": "Exit bathroom to bedroom, walk slight left through study into hallway. Stop in hall. ",
+  "num_steps": 84,
+  "total_unique_objects": 492,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 83,
+      "question": "Recall your earlier path. When you passed by the sofa in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        421
+      ],
+      "metadata": {
+        "probe_object_id": 421,
+        "probe_category": "sofa",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 72,
+        "best_view_timestep": 78,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
+          4.233739852905273,
+          0.2862858772277832,
+          8.035799980163574
+        ],
+        "agent_position_when_seen": [
+          7.5140485763549805,
+          0.13922199606895447,
+          -8.467734336853027
+        ],
+        "pixel_centroid_x": 41.954198473282446,
+        "normalized_position_x": -0.6722328244274809,
+        "object_pixel_count": 393,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 84
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 83,
+      "question": "Along your path, did you see the beam before or after the shower?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        800,
+        365
+      ],
+      "metadata": {
+        "object_A_id": 800,
+        "object_A_category": "shower",
+        "object_A_timestep": 0,
+        "object_B_id": 365,
+        "object_B_category": "beam",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 365,
+        "asked_second_object_id": 800
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 46,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) office (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "living room",
+        "office",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "living room",
+          "office",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 46,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "office",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 75,
+      "question": "From your current viewpoint, is the sofa to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        460,
+        437
+      ],
+      "metadata": {
+        "object_A_id": 460,
+        "object_A_category": "table",
+        "object_A_position": [
+          2.487950086593628,
+          0.1645045280456543,
+          6.601959705352783
+        ],
+        "object_B_id": 437,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          2.5660400390625,
+          0.27362608909606934,
+          3.899780035018921
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          8.220463752746582,
+          0.13922199606895447,
+          -8.71967887878418
+        ],
+        "agent_rotation": [
+          0.5762258768081665,
+          0.0,
+          0.8172904849052429,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 76,
+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) bedroom (B) familyroom/lounge (C) lounge",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "familyroom/lounge",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_7",
+        "adjacent_rooms": [
+          "0_1",
+          "0_24",
+          "0_30",
+          "0_5",
+          "0_6",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "bedroom",
+          "familyroom/lounge",
+          "lounge"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "bathroom",
+        "landmark_room": "laundryroom/mudroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "workout/gym/exercise",
+          "bedroom",
+          "office",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "office",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 83,
+    "question": "Along your path, did you see the beam before or after the shower?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      800,
+      365
+    ],
+    "metadata": {
+      "object_A_id": 800,
+      "object_A_category": "shower",
+      "object_A_timestep": 0,
+      "object_B_id": 365,
+      "object_B_category": "beam",
+      "object_B_timestep": 6,
+      "time_gap": 6,
+      "asked_first_object_id": 365,
+      "asked_second_object_id": 800
+    }
+  }
+}

test/002294/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 2294,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/cV4RVeZvu5T/cV4RVeZvu5T.glb",
+  "instruction": "InstructionData(instruction_text='Walk into the living room and stand next to the red ottoman. ', instruction_tokens=[2584, 1264, 2389, 1404, 1994, 119, 2235, 1576, 2438, 2389, 1939, 1653, 15])",
+  "instruction_text": "Walk into the living room and stand next to the red ottoman. ",
+  "num_steps": 57,
+  "total_unique_objects": 328,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the fireplace in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        106
+      ],
+      "metadata": {
+        "probe_object_id": 106,
+        "probe_category": "fireplace",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 45,
+        "num_sightings": 16,
+        "spatial_relation": "left",
+        "object_position": [
+          -6.53603982925415,
+          1.6897399425506592,
+          4.878029823303223
+        ],
+        "agent_position_when_seen": [
+          7.134986400604248,
+          -0.8815320134162903,
+          7.26533842086792
+        ],
+        "pixel_centroid_x": 32.34265734265734,
+        "normalized_position_x": -0.7473229895104896,
+        "object_pixel_count": 429,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 57
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 56,
+      "question": "Along your path, did you see the plant before or after the stairs?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        220
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "plant",
+        "object_A_timestep": 0,
+        "object_B_id": 220,
+        "object_B_category": "stairs",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 220
+      }
+    },
+    {
+      "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) lounge (B) living room (C) kitchen",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "living room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "lounge",
+          "living room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 16,
+        "rooms_visited": [
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 31,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        353,
+        339
+      ],
+      "metadata": {
+        "object_A_id": 353,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          6.948599815368652,
+          -0.6246156692504883,
+          8.204059600830078
+        ],
+        "object_B_id": 339,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          4.4955902099609375,
+          -0.5061502456665039,
+          6.373869895935059
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          8.087695121765137,
+          -0.8815320134162903,
+          9.081117630004883
+        ],
+        "agent_rotation": [
+          -0.9967124462127686,
+          0.0,
+          0.0810205340385437,
+          0.0
+        ]
+      }
+    }
+  ],
+  "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) living room (B) bedroom (C) laundryroom/mudroom",
+    "answer": "A",
+    "options": [
+      "living room",
+      "bedroom",
+      "laundryroom/mudroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "living room",
+      "all_options": [
+        "living room",
+        "bedroom",
+        "laundryroom/mudroom"
+      ],
+      "query_timestep_internal": 7,
+      "rooms_visited": [
+        "living room"
+      ]
+    }
+  }
+}

test/002348/meta.json

@@ -0,0 +1,246 @@
+{
+  "episode_id": 2348,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Leave the bathroom and make a right to go in the living room. Then make a left in the living room and walk to the dining room and wait. ', instruction_tokens=[1355, 2389, 242, 119, 1446, 73, 1968, 2438, 1067, 1237, 2389, 1404, 1994, 15, 2394, 1446, 73, 1360, 1237, 2389, 1404, 1994, 119, 2584, 2438, 2389, 711, 1994, 119, 2579, 15])",
+  "instruction_text": "Leave the bathroom and make a right to go in the living room. Then make a left in the living room and walk to the dining room and wait. ",
+  "num_steps": 50,
+  "total_unique_objects": 305,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "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": [
+        139
+      ],
+      "metadata": {
+        "probe_object_id": 139,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 16,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          2.302030086517334,
+          0.7881627082824707,
+          7.702909469604492
+        ],
+        "agent_position_when_seen": [
+          -3.533273220062256,
+          0.19755546748638153,
+          3.915741443634033
+        ],
+        "pixel_centroid_x": 168.7843137254902,
+        "normalized_position_x": 0.31862745098039214,
+        "object_pixel_count": 255,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 50
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 49,
+      "question": "Along your path, did you see the picture before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        465,
+        9
+      ],
+      "metadata": {
+        "object_A_id": 465,
+        "object_A_category": "bed",
+        "object_A_timestep": 2,
+        "object_B_id": 9,
+        "object_B_category": "picture",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 9,
+        "asked_second_object_id": 465
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 46,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) hallway (C) workout/gym/exercise",
+      "answer": "B",
+      "options": [
+        "other room",
+        "hallway",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "hallway",
+          "workout/gym/exercise"
+        ],
+        "query_timestep_internal": 46,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the appliances?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        546,
+        197
+      ],
+      "metadata": {
+        "object_A_id": 546,
+        "object_A_category": "appliances",
+        "object_A_position": [
+          -6.9369797706604,
+          1.221829891204834,
+          -4.084519863128662
+        ],
+        "object_B_id": 197,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -5.497610092163086,
+          1.3491101264953613,
+          8.097270011901855
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -3.659250020980835,
+          0.20332103967666626,
+          5.149059772491455
+        ],
+        "agent_rotation": [
+          -0.8653286099433899,
+          0.0,
+          -0.5012050867080688,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 9,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) laundryroom/mudroom (B) other room (C) hallway",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "other room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_22",
+        "adjacent_rooms": [
+          "0_1",
+          "0_18",
+          "0_20",
+          "0_7"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "laundryroom/mudroom",
+          "other room",
+          "hallway"
+        ],
+        "context_rooms": "bathroom, kitchen"
+      }
+    },
+    {
+      "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": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 8,
+        "current_room": "bathroom",
+        "landmark_room": "hallway",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "hallway"
+        ],
+        "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 column to the left or right of the sofa?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      57,
+      121
+    ],
+    "metadata": {
+      "object_A_id": 57,
+      "object_A_category": "sofa",
+      "object_A_position": [
+        1.0476000308990479,
+        0.4930659532546997,
+        1.9912999868392944
+      ],
+      "object_B_id": 121,
+      "object_B_category": "column",
+      "object_B_position": [
+        -0.16160300374031067,
+        1.521129846572876,
+        -0.8412319421768188
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -1.4567772150039673,
+        0.003321051597595215,
+        0.2154567688703537
+      ],
+      "agent_rotation": [
+        -0.9916256666183472,
+        0.0,
+        0.12914592027664185,
+        0.0
+      ]
+    }
+  }
+}

test/002434/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 2434,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Go down the stairs, taking a right and continuing past the kitchen. Enter the first bedroom to your right, stopping in the doorway. ', instruction_tokens=[1067, 780, 2389, 2222, 2355, 73, 1968, 119, 572, 1728, 2389, 1306, 15, 860, 2389, 946, 273, 2438, 2706, 1968, 2279, 1237, 2389, 766, 15])",
+  "instruction_text": "Go down the stairs, taking a right and continuing past the kitchen. Enter the first bedroom to your right, stopping in the doorway. ",
+  "num_steps": 63,
+  "total_unique_objects": 81,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 62,
+      "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": [
+        210
+      ],
+      "metadata": {
+        "probe_object_id": 210,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 34,
+        "num_sightings": 26,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.472370147705078,
+          1.2124300003051758,
+          0.6541550159454346
+        ],
+        "agent_position_when_seen": [
+          -4.682013034820557,
+          -0.2089579850435257,
+          -0.7552913427352905
+        ],
+        "pixel_centroid_x": 193.26272395750752,
+        "normalized_position_x": 0.5098650309180275,
+        "object_pixel_count": 12614,
+        "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 lighting?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        70,
+        230
+      ],
+      "metadata": {
+        "object_A_id": 70,
+        "object_A_category": "lighting",
+        "object_A_timestep": 0,
+        "object_B_id": 230,
+        "object_B_category": "objects",
+        "object_B_timestep": 16,
+        "time_gap": 16,
+        "asked_first_object_id": 230,
+        "asked_second_object_id": 70
+      }
+    },
+    {
+      "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) living room (B) closet (C) bathroom",
+      "answer": "A",
+      "options": [
+        "living room",
+        "closet",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "living room",
+          "closet",
+          "bathroom"
+        ],
+        "query_timestep_internal": 40,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "living room",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 32,
+      "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": [
+          -4.892975807189941,
+          -0.2089579850435257,
+          -0.6211468577384949
+        ],
+        "agent_rotation": [
+          -0.9318527579307556,
+          0.0,
+          0.36283665895462036,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 43,
+      "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) kitchen (C) other room",
+      "answer": "C",
+      "options": [
+        "living room",
+        "kitchen",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_13",
+        "adjacent_rooms": [
+          "1_0",
+          "1_1",
+          "1_14",
+          "1_2"
+        ],
+        "correct_answer_room": "1_14",
+        "all_options": [
+          "living room",
+          "kitchen",
+          "other room"
+        ],
+        "context_rooms": "bedroom, other room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "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": 3,
+        "current_room": "stairs",
+        "landmark_room": "living room",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "stairs",
+          "living room",
+          "stairs",
+          "living room",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "living room",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 62,
+    "question": "Along your path, did you see the lighting before or after the objects?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      70,
+      230
+    ],
+    "metadata": {
+      "object_A_id": 70,
+      "object_A_category": "lighting",
+      "object_A_timestep": 0,
+      "object_B_id": 230,
+      "object_B_category": "objects",
+      "object_B_timestep": 16,
+      "time_gap": 16,
+      "asked_first_object_id": 70,
+      "asked_second_object_id": 230
+    }
+  }
+}