Add files using upload-large-folder tool

test/000043/meta.json

@@ -0,0 +1,247 @@
+{
+  "episode_id": 43,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and head towards the hall way. Continue , until you see the square windows and make a right. Continue through the glass doors and make your first left into the shop. ', instruction_tokens=[2494, 159, 119, 1162, 2452, 2389, 1121, 2616, 15, 569, 2524, 2703, 2059, 2389, 2208, 2654, 119, 1446, 73, 1968, 15, 569, 2418, 2389, 1057, 762, 119, 1446, 2706, 946, 1360, 1264, 2389, 2106, 15])",
+  "instruction_text": "Turn around and head towards the hall way. Continue , until you see the square windows and make a right. Continue through the glass doors and make your first left into the shop. ",
+  "num_steps": 94,
+  "total_unique_objects": 77,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 93,
+      "question": "Recall your earlier path. When you passed by the cabinet in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        231
+      ],
+      "metadata": {
+        "probe_object_id": 231,
+        "probe_category": "cabinet",
+        "probe_room": "hallway",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 15,
+        "num_sightings": 17,
+        "spatial_relation": "left",
+        "object_position": [
+          -11.12440013885498,
+          0.4809040427207947,
+          -0.477463960647583
+        ],
+        "agent_position_when_seen": [
+          -10.04491138458252,
+          0.12697899341583252,
+          -2.277806520462036
+        ],
+        "pixel_centroid_x": 49.17047353760446,
+        "normalized_position_x": -0.6158556754874651,
+        "object_pixel_count": 1795,
+        "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 objects before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        144,
+        186
+      ],
+      "metadata": {
+        "object_A_id": 144,
+        "object_A_category": "objects",
+        "object_A_timestep": 0,
+        "object_B_id": 186,
+        "object_B_category": "objects",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 144,
+        "asked_second_object_id": 186
+      }
+    },
+    {
+      "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) stairs (B) toilet (C) hallway",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "toilet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "stairs",
+          "toilet",
+          "hallway"
+        ],
+        "query_timestep_internal": 48,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 34,
+      "question": "From your current viewpoint, is the mirror to the left or right of the picture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        224,
+        185
+      ],
+      "metadata": {
+        "object_A_id": 224,
+        "object_A_category": "picture",
+        "object_A_position": [
+          -15.659099578857422,
+          1.0410399436950684,
+          -0.48827284574508667
+        ],
+        "object_B_id": 185,
+        "object_B_category": "mirror",
+        "object_B_position": [
+          -18.08989906311035,
+          1.4495599269866943,
+          -0.44925498962402344
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -13.544707298278809,
+          0.12697899341583252,
+          -1.5695990324020386
+        ],
+        "agent_rotation": [
+          0.8747889995574951,
+          0.0,
+          0.48450416326522827,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 13,
+      "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) office (C) stairs",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "office",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_7",
+        "adjacent_rooms": [
+          "0_10",
+          "0_4",
+          "0_5",
+          "0_6",
+          "0_8"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "bathroom",
+          "office",
+          "stairs"
+        ],
+        "context_rooms": "hallway, toilet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 4,
+      "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": 4,
+        "current_room": "hallway",
+        "landmark_room": "bathroom",
+        "final_room": "office",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 27,
+    "question": "From your current viewpoint, is the picture in front of or behind the table?",
+    "answer": "behind",
+    "options": [
+      "in front of",
+      "behind"
+    ],
+    "probe_objects": [
+      180,
+      224
+    ],
+    "metadata": {
+      "object_A_id": 180,
+      "object_A_category": "table",
+      "object_A_position": [
+        -17.438100814819336,
+        0.4568920135498047,
+        -0.21321099996566772
+      ],
+      "object_B_id": 224,
+      "object_B_category": "picture",
+      "object_B_position": [
+        -15.659099578857422,
+        1.0410399436950684,
+        -0.48827284574508667
+      ],
+      "spatial_relation": "behind",
+      "agent_position": [
+        -12.633605003356934,
+        0.12697899341583252,
+        -1.4164785146713257
+      ],
+      "agent_rotation": [
+        0.6227878928184509,
+        0.0,
+        0.7823907136917114,
+        0.0
+      ]
+    }
+  }
+}

test/000133/meta.json

@@ -0,0 +1,250 @@
+{
+  "episode_id": 133,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
+  "instruction": "InstructionData(instruction_text='TURN LEFT UNTIL THERE ARE STAIRS ON BOTH SIDES AND A TABLE IN FRONT OF YOU, WALK FORWARD AND SLIGHTLY TO THE LEFT OF THE TABLE, ON THE LEFT SIDE WALL IS AN OPEN DOOR AGAINST A WALL WITH ART ON IT, WALK THOUGH THE DOOR AND INTO A ROOM THAT HAS MANY CABINETS FILLED WITH DISHES. ', instruction_tokens=[2494, 1360, 2524, 2395, 149, 2222, 1613, 345, 2122, 119, 73, 2342, 1237, 1019, 1605, 2703, 2584, 993, 119, 2164, 2438, 2389, 1360, 1605, 2389, 2342, 1613, 2389, 1360, 2121, 2593, 1267, 118, 1625, 757, 96, 73, 2593, 2661, 165, 1613, 1272, 2584, 2411, 2389, 757, 119, 1264, 73, 1994, 2388, 1156, 1460, 409, 933, 2661, 727, 15])",
+  "instruction_text": "TURN LEFT UNTIL THERE ARE STAIRS ON BOTH SIDES AND A TABLE IN FRONT OF YOU, WALK FORWARD AND SLIGHTLY TO THE LEFT OF THE TABLE, ON THE LEFT SIDE WALL IS AN OPEN DOOR AGAINST A WALL WITH ART ON IT, WALK THOUGH THE DOOR AND INTO A ROOM THAT HAS MANY CABINETS FILLED WITH DISHES. ",
+  "num_steps": 51,
+  "total_unique_objects": 113,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "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": [
+        394
+      ],
+      "metadata": {
+        "probe_object_id": 394,
+        "probe_category": "stool",
+        "probe_room": "living room",
+        "probe_region_id": "1_11",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 1,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          12.758199691772461,
+          0.2705261707305908,
+          -1.8921599388122559
+        ],
+        "agent_position_when_seen": [
+          7.57774019241333,
+          0.13123798370361328,
+          -1.8875700235366821
+        ],
+        "pixel_centroid_x": 241.9922480620155,
+        "normalized_position_x": 0.8905644379844961,
+        "object_pixel_count": 129,
+        "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 shelving before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        389,
+        2
+      ],
+      "metadata": {
+        "object_A_id": 389,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 2,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 389,
+        "asked_second_object_id": 2
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 13,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) hallway (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "other room",
+        "hallway",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 13,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 40,
+      "question": "From your current viewpoint, is the objects to the left or right of the curtain?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        755,
+        751
+      ],
+      "metadata": {
+        "object_A_id": 755,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          16.37929916381836,
+          -2.1667096614837646,
+          2.4116697311401367
+        ],
+        "object_B_id": 751,
+        "object_B_category": "objects",
+        "object_B_position": [
+          20.071800231933594,
+          -1.9432100057601929,
+          1.3675498962402344
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          10.977383613586426,
+          0.13123798370361328,
+          3.273014545440674
+        ],
+        "agent_rotation": [
+          -0.34654700756073,
+          0.0,
+          0.9380325675010681,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 31,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) other room (B) bedroom (C) bathroom",
+      "answer": "A",
+      "options": [
+        "other room",
+        "bedroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_19",
+        "adjacent_rooms": [
+          "0_18",
+          "0_20",
+          "0_21",
+          "0_22",
+          "0_25",
+          "0_26",
+          "0_27"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "other room",
+          "bedroom",
+          "bathroom"
+        ],
+        "context_rooms": "tv, other room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "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": 14,
+        "current_room": "hallway",
+        "landmark_room": "dining room",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "dining room",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 50,
+    "question": "Recall your earlier path. When you passed by the table in the dining room, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      2
+    ],
+    "metadata": {
+      "probe_object_id": 2,
+      "probe_category": "table",
+      "probe_room": "dining room",
+      "probe_region_id": "1_0",
+      "first_seen_timestep": 4,
+      "best_view_timestep": 8,
+      "num_sightings": 7,
+      "spatial_relation": "right",
+      "object_position": [
+        8.21127986907959,
+        0.46410703659057617,
+        2.9777300357818604
+      ],
+      "agent_position_when_seen": [
+        7.57774019241333,
+        0.13123798370361328,
+        -1.8875700235366821
+      ],
+      "pixel_centroid_x": 146.34445371142618,
+      "normalized_position_x": 0.14331604462051706,
+      "object_pixel_count": 1199,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 51
+    }
+  }
+}

test/000152/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 152,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VzqfbhrpDEA/VzqfbhrpDEA.glb",
+  "instruction": "InstructionData(instruction_text='Facing the dining room table go around the table with the table on your left side go around it into the hallway at the end of the living room and take a left into the bedroom stopping just inside the room near the  doorway. ', instruction_tokens=[906, 2389, 711, 1994, 2342, 1067, 159, 2389, 2342, 2661, 2389, 2342, 1613, 2706, 1360, 2121, 1067, 159, 1272, 1264, 2389, 1126, 178, 2389, 851, 1605, 2389, 1404, 1994, 119, 2352, 73, 1360, 1264, 2389, 273, 2279, 1293, 1249, 2389, 1994, 1563, 2389, 766, 15])",
+  "instruction_text": "Facing the dining room table go around the table with the table on your left side go around it into the hallway at the end of the living room and take a left into the bedroom stopping just inside the room near the  doorway. ",
+  "num_steps": 58,
+  "total_unique_objects": 378,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "question": "Recall your earlier path. When you passed by the chair in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        42
+      ],
+      "metadata": {
+        "probe_object_id": 42,
+        "probe_category": "chair",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 17,
+        "best_view_timestep": 19,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          -26.173099517822266,
+          0.6003866195678711,
+          8.983409881591797
+        ],
+        "agent_position_when_seen": [
+          -20.609025955200195,
+          0.09100902080535889,
+          6.001234531402588
+        ],
+        "pixel_centroid_x": 171.17857142857142,
+        "normalized_position_x": 0.3373325892857142,
+        "object_pixel_count": 252,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 58
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 57,
+      "question": "Along your path, did you see the gym_equipment before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        1171
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "gym_equipment",
+        "object_A_timestep": 6,
+        "object_B_id": 1171,
+        "object_B_category": "objects",
+        "object_B_timestep": 14,
+        "time_gap": 8,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 1171
+      }
+    },
+    {
+      "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) living room (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "living room",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "lounge",
+          "living room",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "bathroom",
+          "familyroom/lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the bathtub?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        99,
+        133
+      ],
+      "metadata": {
+        "object_A_id": 99,
+        "object_A_category": "bathtub",
+        "object_A_position": [
+          -29.246400833129883,
+          0.33371198177337646,
+          0.030757665634155273
+        ],
+        "object_B_id": 133,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -29.61870002746582,
+          0.4714696407318115,
+          3.7319998741149902
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -19.003400802612305,
+          0.09100902080535889,
+          5.342939853668213
+        ],
+        "agent_rotation": [
+          -0.5096737146377563,
+          0.0,
+          -0.8603677749633789,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 17,
+      "question": "Based on your exploration and knowledge of the environment, which area is the garage you see now directly connected to? (A) dining room (B) garage (C) bedroom",
+      "answer": "B",
+      "options": [
+        "dining room",
+        "garage",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_22",
+          "0_23",
+          "0_24",
+          "0_29"
+        ],
+        "correct_answer_room": "0_29",
+        "all_options": [
+          "dining room",
+          "garage",
+          "bedroom"
+        ],
+        "context_rooms": "hallway, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 24,
+      "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": 24,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "office",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "familyroom/lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 19,
+    "question": "From your current viewpoint, is the bed to the left or right of the curtain?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      270,
+      56
+    ],
+    "metadata": {
+      "object_A_id": 270,
+      "object_A_category": "curtain",
+      "object_A_position": [
+        -23.872100830078125,
+        1.6322593688964844,
+        6.007089614868164
+      ],
+      "object_B_id": 56,
+      "object_B_category": "bed",
+      "object_B_position": [
+        -29.639999389648438,
+        1.0651397705078125,
+        8.133399963378906
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -20.609025955200195,
+        0.09100902080535889,
+        6.001234531402588
+      ],
+      "agent_rotation": [
+        -0.8715742230415344,
+        0.0,
+        -0.49026358127593994,
+        0.0
+      ]
+    }
+  }
+}

test/000318/meta.json

@@ -0,0 +1,249 @@
+{
+  "episode_id": 318,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Exit the pool area by walking inside the house. Inside turn left and walk up the short stairs and wait. ', instruction_tokens=[888, 2389, 1846, 150, 404, 2588, 1249, 2389, 1213, 15, 1249, 2494, 1360, 119, 2584, 2527, 2389, 2107, 2222, 119, 2579, 15])",
+  "instruction_text": "Exit the pool area by walking inside the house. Inside turn left and walk up the short stairs and wait. ",
+  "num_steps": 65,
+  "total_unique_objects": 197,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 64,
+      "question": "Recall your earlier path. When you passed by the furniture in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        7
+      ],
+      "metadata": {
+        "probe_object_id": 7,
+        "probe_category": "furniture",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 53,
+        "num_sightings": 57,
+        "spatial_relation": "left",
+        "object_position": [
+          8.721199989318848,
+          1.8124003410339355,
+          -3.6168198585510254
+        ],
+        "agent_position_when_seen": [
+          9.285147666931152,
+          0.026596851646900177,
+          5.914524078369141
+        ],
+        "pixel_centroid_x": 44.66635338345865,
+        "normalized_position_x": -0.6510441141917294,
+        "object_pixel_count": 1064,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 65
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 64,
+      "question": "Along your path, did you see the appliances before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        39
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 39,
+        "object_B_category": "appliances",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 39,
+        "asked_second_object_id": 2
+      }
+    },
+    {
+      "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) bathroom (B) familyroom/lounge (C) spa/sauna",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "familyroom/lounge",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "bathroom",
+          "familyroom/lounge",
+          "spa/sauna"
+        ],
+        "query_timestep_internal": 40,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 50,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the furniture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        7,
+        4
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "furniture",
+        "object_A_position": [
+          8.721199989318848,
+          1.8124003410339355,
+          -3.6168198585510254
+        ],
+        "object_B_id": 4,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          6.622859954833984,
+          1.1414501667022705,
+          -3.8224096298217773
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          8.970572471618652,
+          0.13843365013599396,
+          6.595363140106201
+        ],
+        "agent_rotation": [
+          -0.976674497127533,
+          0.0,
+          0.21472522616386414,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 53,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) living room (B) spa/sauna (C) kitchen",
+      "answer": "C",
+      "options": [
+        "living room",
+        "spa/sauna",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_3",
+          "0_30",
+          "0_5"
+        ],
+        "correct_answer_room": "0_3",
+        "all_options": [
+          "living room",
+          "spa/sauna",
+          "kitchen"
+        ],
+        "context_rooms": "familyroom/lounge, porch/terrace/deck"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 31,
+      "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": 31,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "kitchen",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "familyroom/lounge",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 64,
+    "question": "Recall your earlier path. When you passed by the counter in the kitchen, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      30
+    ],
+    "metadata": {
+      "probe_object_id": 30,
+      "probe_category": "counter",
+      "probe_room": "kitchen",
+      "probe_region_id": "0_3",
+      "first_seen_timestep": 54,
+      "best_view_timestep": 55,
+      "num_sightings": 3,
+      "spatial_relation": "left",
+      "object_position": [
+        9.664480209350586,
+        1.610209584236145,
+        2.3309097290039062
+      ],
+      "agent_position_when_seen": [
+        9.390006065368652,
+        0.05011981725692749,
+        5.687577724456787
+      ],
+      "pixel_centroid_x": 16.45378151260504,
+      "normalized_position_x": -0.8714548319327731,
+      "object_pixel_count": 119,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 65
+    }
+  }
+}

test/000320/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 320,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/D7G3Y4RVNrH/D7G3Y4RVNrH.glb",
+  "instruction": "InstructionData(instruction_text='Go to the other side of the library and stand on the red dot. Follow the blue dots. ', instruction_tokens=[1067, 2438, 2389, 1651, 2121, 1605, 2389, 1376, 119, 2235, 1613, 2389, 1939, 772, 15, 972, 2389, 324, 773, 15])",
+  "instruction_text": "Go to the other side of the library and stand on the red dot. Follow the blue dots. ",
+  "num_steps": 27,
+  "total_unique_objects": 30,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 26,
+      "question": "Recall your earlier path. When you passed by the chair in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        7
+      ],
+      "metadata": {
+        "probe_object_id": 7,
+        "probe_category": "chair",
+        "probe_room": "hallway",
+        "probe_region_id": "2_0",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 5,
+        "spatial_relation": "left",
+        "object_position": [
+          1.157729983329773,
+          2.911789894104004,
+          -0.8274519443511963
+        ],
+        "agent_position_when_seen": [
+          0.8176249861717224,
+          0.05103965103626251,
+          -5.502150058746338
+        ],
+        "pixel_centroid_x": 76.2026825633383,
+        "normalized_position_x": -0.40466654247391953,
+        "object_pixel_count": 671,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 27
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 26,
+      "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": [
+        7,
+        42
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 42,
+        "object_B_category": "chair",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 42,
+        "asked_second_object_id": 7
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 14,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) library (C) hallway",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "library",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "library",
+        "all_options": [
+          "stairs",
+          "library",
+          "hallway"
+        ],
+        "query_timestep_internal": 14,
+        "rooms_visited": [
+          "library"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the table to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        44,
+        59
+      ],
+      "metadata": {
+        "object_A_id": 44,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          1.2617599964141846,
+          1.1127800941467285,
+          -1.7545799016952515
+        ],
+        "object_B_id": 59,
+        "object_B_category": "table",
+        "object_B_position": [
+          -0.6551560163497925,
+          0.44070693850517273,
+          0.6113870143890381
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          0.8196235299110413,
+          0.04071307182312012,
+          -4.252152442932129
+        ],
+        "agent_rotation": [
+          -0.0007993876934051514,
+          0.0,
+          0.9999997019767761,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 5,
+    "question": "From your current viewpoint, is the shelving to the left or right of the table?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      59,
+      44
+    ],
+    "metadata": {
+      "object_A_id": 59,
+      "object_A_category": "table",
+      "object_A_position": [
+        -0.6551560163497925,
+        0.44070693850517273,
+        0.6113870143890381
+      ],
+      "object_B_id": 44,
+      "object_B_category": "shelving",
+      "object_B_position": [
+        1.2617599964141846,
+        1.1127800941467285,
+        -1.7545799016952515
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        0.8188241124153137,
+        0.04071307182312012,
+        -4.7521514892578125
+      ],
+      "agent_rotation": [
+        -0.0007993876934051514,
+        0.0,
+        0.9999997019767761,
+        0.0
+      ]
+    }
+  }
+}

test/000334/meta.json

@@ -0,0 +1,175 @@
+{
+  "episode_id": 334,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text='Step out of the doorway and turn right.  Walk down the hall.  Stop at the second doorway on your right, looking into the bedroom. ', instruction_tokens=[2260, 1658, 1605, 2389, 766, 119, 2494, 1968, 15, 2584, 780, 2389, 1121, 15, 2278, 178, 2389, 2054, 766, 1613, 2706, 1968, 1421, 1264, 2389, 273, 15])",
+  "instruction_text": "Step out of the doorway and turn right.  Walk down the hall.  Stop at the second doorway on your right, looking into the bedroom. ",
+  "num_steps": 35,
+  "total_unique_objects": 145,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 34,
+      "question": "Along your path, did you see the mirror before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        17,
+        321
+      ],
+      "metadata": {
+        "object_A_id": 17,
+        "object_A_category": "",
+        "object_A_timestep": 8,
+        "object_B_id": 321,
+        "object_B_category": "mirror",
+        "object_B_timestep": 13,
+        "time_gap": 5,
+        "asked_first_object_id": 321,
+        "asked_second_object_id": 17
+      }
+    },
+    {
+      "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) office (B) dining room (C) hallway",
+      "answer": "C",
+      "options": [
+        "office",
+        "dining room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "office",
+          "dining room",
+          "hallway"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 25,
+      "question": "From your current viewpoint, is the stairs to the left or right of the shower?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        336,
+        515
+      ],
+      "metadata": {
+        "object_A_id": 336,
+        "object_A_category": "shower",
+        "object_A_position": [
+          4.227540016174316,
+          1.3725299835205078,
+          0.25088798999786377
+        ],
+        "object_B_id": 515,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          4.306570053100586,
+          0.977622926235199,
+          6.453760147094727
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          8.707220077514648,
+          3.628255844116211,
+          4.259280681610107
+        ],
+        "agent_rotation": [
+          -0.784447968006134,
+          0.0,
+          -0.6201946139335632,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 33,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) balcony (B) kitchen (C) stairs",
+      "answer": "C",
+      "options": [
+        "balcony",
+        "kitchen",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_12",
+          "0_13",
+          "0_15",
+          "0_16",
+          "0_18",
+          "0_20"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "balcony",
+          "kitchen",
+          "stairs"
+        ],
+        "context_rooms": "dining room, bathroom"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 28,
+    "question": "From your current viewpoint, is the picture to the left or right of the stairs?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      515,
+      396
+    ],
+    "metadata": {
+      "object_A_id": 515,
+      "object_A_category": "stairs",
+      "object_A_position": [
+        4.306570053100586,
+        0.977622926235199,
+        6.453760147094727
+      ],
+      "object_B_id": 396,
+      "object_B_category": "picture",
+      "object_B_position": [
+        -1.488510012626648,
+        1.5958399772644043,
+        7.8078999519348145
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        7.977453708648682,
+        3.628255844116211,
+        4.086243152618408
+      ],
+      "agent_rotation": [
+        -0.784447968006134,
+        0.0,
+        -0.6201946139335632,
+        0.0
+      ]
+    }
+  }
+}

test/000350/meta.json

@@ -0,0 +1,121 @@
+{
+  "episode_id": 350,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='go through door and turn right, enter second room on right. ', instruction_tokens=[1067, 2418, 757, 119, 2494, 1968, 860, 2054, 1994, 1613, 1968, 15])",
+  "instruction_text": "go through door and turn right, enter second room on right. ",
+  "num_steps": 41,
+  "total_unique_objects": 746,
+  "mindcraft_queries": [
+    {
+      "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) other room (B) hallway (C) library",
+      "answer": "B",
+      "options": [
+        "other room",
+        "hallway",
+        "library"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "hallway",
+          "library"
+        ],
+        "query_timestep_internal": 38,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 27,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) office (B) classroom (C) meetingroom/conferenceroom",
+      "answer": "A",
+      "options": [
+        "office",
+        "classroom",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_72",
+        "adjacent_rooms": [
+          "0_68",
+          "0_71",
+          "0_73"
+        ],
+        "correct_answer_room": "0_71",
+        "all_options": [
+          "office",
+          "classroom",
+          "meetingroom/conferenceroom"
+        ],
+        "context_rooms": "hallway, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 19,
+      "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": 19,
+        "current_room": "hallway",
+        "landmark_room": "office",
+        "final_room": "office",
+        "remaining_rooms": [
+          "hallway",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 26,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) classroom (B) hallway (C) dining booth",
+    "answer": "B",
+    "options": [
+      "classroom",
+      "hallway",
+      "dining booth"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "classroom",
+        "hallway",
+        "dining booth"
+      ],
+      "query_timestep_internal": 26,
+      "rooms_visited": [
+        "hallway",
+        "kitchen",
+        "office"
+      ]
+    }
+  }
+}

test/000360/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 360,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='walk out door to top of steps. go down the stairs. continue to the bottom of the steps. ', instruction_tokens=[2584, 1658, 757, 2438, 2444, 1605, 2265, 15, 1067, 780, 2389, 2222, 15, 569, 2438, 2389, 348, 1605, 2389, 2265, 15])",
+  "instruction_text": "walk out door to top of steps. go down the stairs. continue to the bottom of the steps. ",
+  "num_steps": 61,
+  "total_unique_objects": 270,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        329
+      ],
+      "metadata": {
+        "probe_object_id": 329,
+        "probe_category": "tv_monitor",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "1_9",
+        "first_seen_timestep": 25,
+        "best_view_timestep": 25,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          13.23069953918457,
+          5.201449871063232,
+          6.5408196449279785
+        ],
+        "agent_position_when_seen": [
+          9.629361152648926,
+          2.8389341831207275,
+          -3.5708582401275635
+        ],
+        "pixel_centroid_x": 90.70588235294117,
+        "normalized_position_x": -0.2913602941176471,
+        "object_pixel_count": 170,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the table before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        590,
+        332
+      ],
+      "metadata": {
+        "object_A_id": 590,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 332,
+        "object_B_category": "table",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 332,
+        "asked_second_object_id": 590
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 3,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) entryway/foyer/lobby (C) laundryroom/mudroom",
+      "answer": "C",
+      "options": [
+        "familyroom/lounge",
+        "entryway/foyer/lobby",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "laundryroom/mudroom",
+        "all_options": [
+          "familyroom/lounge",
+          "entryway/foyer/lobby",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 3,
+        "rooms_visited": [
+          "hallway",
+          "laundryroom/mudroom",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 46,
+      "question": "From your current viewpoint, is the cushion to the left or right of the column?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        747,
+        628
+      ],
+      "metadata": {
+        "object_A_id": 747,
+        "object_A_category": "column",
+        "object_A_position": [
+          6.56279993057251,
+          1.2902997732162476,
+          1.888319969177246
+        ],
+        "object_B_id": 628,
+        "object_B_category": "cushion",
+        "object_B_position": [
+          9.435179710388184,
+          0.5683355331420898,
+          4.5041093826293945
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          11.016626358032227,
+          1.8584734201431274,
+          -2.6439993381500244
+        ],
+        "agent_rotation": [
+          0.513113796710968,
+          0.0,
+          0.8583206534385681,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 19,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) closet (B) lounge (C) dining room",
+      "answer": "C",
+      "options": [
+        "closet",
+        "lounge",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_14",
+          "0_16",
+          "0_20",
+          "0_22",
+          "0_26"
+        ],
+        "correct_answer_room": "0_16",
+        "all_options": [
+          "closet",
+          "lounge",
+          "dining room"
+        ],
+        "context_rooms": "familyroom/lounge, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "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": 15,
+        "current_room": "hallway",
+        "landmark_room": "laundryroom/mudroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "laundryroom/mudroom",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "laundryroom/mudroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 60,
+    "question": "Along your path, did you see the curtain before or after the table?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      590,
+      332
+    ],
+    "metadata": {
+      "object_A_id": 590,
+      "object_A_category": "curtain",
+      "object_A_timestep": 0,
+      "object_B_id": 332,
+      "object_B_category": "table",
+      "object_B_timestep": 5,
+      "time_gap": 5,
+      "asked_first_object_id": 590,
+      "asked_second_object_id": 332
+    }
+  }
+}

test/000423/meta.json

@@ -0,0 +1,214 @@
+{
+  "episode_id": 423,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/EDJbREhghzL/EDJbREhghzL.glb",
+  "instruction": "InstructionData(instruction_text='go down the stairs and turn right.\\r\\ngo down the hall way on your right.\\r\\nKeep going down the hallway, pass a few pictures on the wall.\\r\\nYou then come to the bedroom. ', instruction_tokens=[1067, 780, 2389, 2222, 119, 2494, 1968, 15, 1067, 780, 2389, 1121, 2616, 1613, 2706, 1968, 15, 1295, 1071, 780, 2389, 1126, 1721, 73, 925, 1777, 1613, 2389, 2593, 15, 2703, 2394, 544, 2438, 2389, 273, 15])",
+  "instruction_text": "go down the stairs and turn right.\r\ngo down the hall way on your right.\r\nKeep going down the hallway, pass a few pictures on the wall.\r\nYou then come to the bedroom. ",
+  "num_steps": 73,
+  "total_unique_objects": 381,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 72,
+      "question": "Recall your earlier path. When you passed by the shelving in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        361
+      ],
+      "metadata": {
+        "probe_object_id": 361,
+        "probe_category": "shelving",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 43,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
+          4.221570014953613,
+          0.47597408294677734,
+          4.928719997406006
+        ],
+        "agent_position_when_seen": [
+          0.8256224393844604,
+          0.1033330038189888,
+          2.7295918464660645
+        ],
+        "pixel_centroid_x": 28.06222222222222,
+        "normalized_position_x": -0.7807638888888889,
+        "object_pixel_count": 225,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 73
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 72,
+      "question": "Along your path, did you see the  before or after the plant?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        27,
+        62
+      ],
+      "metadata": {
+        "object_A_id": 27,
+        "object_A_category": "",
+        "object_A_timestep": 3,
+        "object_B_id": 62,
+        "object_B_category": "plant",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 27,
+        "asked_second_object_id": 62
+      }
+    },
+    {
+      "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) balcony (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "balcony",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "balcony",
+          "hallway",
+          "kitchen"
+        ],
+        "query_timestep_internal": 17,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 44,
+      "question": "From your current viewpoint, is the sink to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        307,
+        363
+      ],
+      "metadata": {
+        "object_A_id": 307,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          3.9533801078796387,
+          0.3608231544494629,
+          -1.2655298709869385
+        ],
+        "object_B_id": 363,
+        "object_B_category": "sink",
+        "object_B_position": [
+          5.465740203857422,
+          0.49732112884521484,
+          4.228030204772949
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          1.0742568969726562,
+          0.1033330038189888,
+          2.7034966945648193
+        ],
+        "agent_rotation": [
+          -0.7430951595306396,
+          0.0,
+          0.6691858768463135,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 36,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) office (B) living room (C) laundryroom/mudroom",
+      "answer": "C",
+      "options": [
+        "office",
+        "living room",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_12",
+          "0_13",
+          "0_8"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "office",
+          "living room",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "bathroom, bedroom"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 72,
+    "question": "From your current viewpoint, is the furniture to the left or right of the picture?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      475,
+      466
+    ],
+    "metadata": {
+      "object_A_id": 475,
+      "object_A_category": "picture",
+      "object_A_position": [
+        9.633870124816895,
+        1.606909990310669,
+        0.6255638599395752
+      ],
+      "object_B_id": 466,
+      "object_B_category": "furniture",
+      "object_B_position": [
+        8.863590240478516,
+        1.0768296718597412,
+        2.9102296829223633
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        5.535930633544922,
+        0.1033330038189888,
+        2.755707025527954
+      ],
+      "agent_rotation": [
+        -0.743095338344574,
+        0.0,
+        0.6691856980323792,
+        0.0
+      ]
+    }
+  }
+}

test/000431/meta.json

@@ -0,0 +1,250 @@
+{
+  "episode_id": 431,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom, turn left, walk down the hallway past the stairs, turn right at the glass table, walk down the hallway, wait by the kitchen island. ', instruction_tokens=[888, 2389, 242, 2494, 1360, 2584, 780, 2389, 1126, 1728, 2389, 2222, 2494, 1968, 178, 2389, 1057, 2342, 2584, 780, 2389, 1126, 2579, 404, 2389, 1306, 1268, 15])",
+  "instruction_text": "Exit the bathroom, turn left, walk down the hallway past the stairs, turn right at the glass table, walk down the hallway, wait by the kitchen island. ",
+  "num_steps": 103,
+  "total_unique_objects": 286,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 102,
+      "question": "Recall your earlier path. When you passed by the table in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        252
+      ],
+      "metadata": {
+        "probe_object_id": 252,
+        "probe_category": "table",
+        "probe_room": "living room",
+        "probe_region_id": "0_14",
+        "first_seen_timestep": 49,
+        "best_view_timestep": 49,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          6.5058698654174805,
+          -0.8622121810913086,
+          4.487760066986084
+        ],
+        "agent_position_when_seen": [
+          3.9596917629241943,
+          -1.0843499898910522,
+          10.356610298156738
+        ],
+        "pixel_centroid_x": 18.00925925925926,
+        "normalized_position_x": -0.859302662037037,
+        "object_pixel_count": 108,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 103
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 102,
+      "question": "Along your path, did you see the  before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        19,
+        140
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "",
+        "object_A_timestep": 14,
+        "object_B_id": 140,
+        "object_B_category": "bed",
+        "object_B_timestep": 18,
+        "time_gap": 4,
+        "asked_first_object_id": 19,
+        "asked_second_object_id": 140
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 91,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) lounge (C) kitchen",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "bedroom",
+          "lounge",
+          "kitchen"
+        ],
+        "query_timestep_internal": 91,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 24,
+      "question": "From your current viewpoint, is the picture to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        236,
+        318
+      ],
+      "metadata": {
+        "object_A_id": 236,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          1.54656982421875,
+          0.7938517928123474,
+          8.900419235229492
+        ],
+        "object_B_id": 318,
+        "object_B_category": "picture",
+        "object_B_position": [
+          15.906200408935547,
+          0.5691022872924805,
+          14.077199935913086
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          3.3011388778686523,
+          -1.0843499898910522,
+          14.293159484863281
+        ],
+        "agent_rotation": [
+          -0.9969124794006348,
+          0.0,
+          0.07852078974246979,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 40,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) stairs (B) hallway (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "hallway",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_24",
+        "adjacent_rooms": [
+          "0_21",
+          "0_23",
+          "0_25",
+          "0_26"
+        ],
+        "correct_answer_room": "0_26",
+        "all_options": [
+          "stairs",
+          "hallway",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "lounge, laundryroom/mudroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 32,
+      "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": 32,
+        "current_room": "hallway",
+        "landmark_room": "bathroom",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "hallway",
+          "dining room",
+          "kitchen",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 102,
+    "question": "Recall your earlier path. When you passed by the sofa in the dining room, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      345
+    ],
+    "metadata": {
+      "probe_object_id": 345,
+      "probe_category": "sofa",
+      "probe_room": "dining room",
+      "probe_region_id": "0_20",
+      "first_seen_timestep": 34,
+      "best_view_timestep": 34,
+      "num_sightings": 2,
+      "spatial_relation": "right",
+      "object_position": [
+        5.707159996032715,
+        -0.5709371566772461,
+        11.065299034118652
+      ],
+      "agent_position_when_seen": [
+        3.441965103149414,
+        -1.0843499898910522,
+        12.578133583068848
+      ],
+      "pixel_centroid_x": 165.45283018867926,
+      "normalized_position_x": 0.2926002358490567,
+      "object_pixel_count": 106,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 103
+    }
+  }
+}

test/000437/meta.json

@@ -0,0 +1,194 @@
+{
+  "episode_id": 437,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
+  "instruction": "InstructionData(instruction_text='Turn slightly to the right to walk up the stairs. Once you are at the top of the stairs turn right to walk into the large room towards the long table and the large marble vase. Before you enter the area with the long table turn right to move between the marble vase and the faucet display. You should be moving through an arched passageway towards a gilt framed mirror. In the hallway that is to the left of the gilt mirror there is a closed door. The door is at the beginning of the hallway and is on the right side of the hallway. Move to stand directly in front of this door and stop. ', instruction_tokens=[2494, 2164, 2438, 2389, 1968, 2438, 2584, 2527, 2389, 2222, 15, 1615, 2703, 149, 178, 2389, 2444, 1605, 2389, 2222, 2494, 1968, 2438, 2584, 1264, 2389, 1336, 1994, 2452, 2389, 1418, 2342, 119, 2389, 1336, 1462, 2546, 15, 281, 2703, 860, 2389, 150, 2661, 2389, 1418, 2342, 2494, 1968, 2438, 1537, 294, 2389, 1462, 2546, 119, 2389, 918, 733, 15, 2703, 2109, 252, 1540, 2418, 118, 144, 1723, 2452, 73, 1051, 1008, 1515, 15, 1237, 2389, 1126, 2388, 1267, 2438, 2389, 1360, 1605, 2389, 1051, 1515, 2395, 1267, 73, 518, 757, 15, 2389, 757, 1267, 178, 2389, 283, 1605, 2389, 1126, 119, 1267, 1613, 2389, 1968, 2121, 1605, 2389, 1126, 15, 1537, 2438, 2235, 720, 1237, 1019, 1605, 2406, 757, 119, 2278, 15])",
+  "instruction_text": "Turn slightly to the right to walk up the stairs. Once you are at the top of the stairs turn right to walk into the large room towards the long table and the large marble vase. Before you enter the area with the long table turn right to move between the marble vase and the faucet display. You should be moving through an arched passageway towards a gilt framed mirror. In the hallway that is to the left of the gilt mirror there is a closed door. The door is at the beginning of the hallway and is on the right side of the hallway. Move to stand directly in front of this door and stop. ",
+  "num_steps": 73,
+  "total_unique_objects": 163,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 72,
+      "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": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        394
+      ],
+      "metadata": {
+        "probe_object_id": 394,
+        "probe_category": "stool",
+        "probe_room": "living room",
+        "probe_region_id": "1_11",
+        "first_seen_timestep": 22,
+        "best_view_timestep": 23,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          12.758199691772461,
+          0.2705261707305908,
+          -1.8921599388122559
+        ],
+        "agent_position_when_seen": [
+          7.423887252807617,
+          0.12210780382156372,
+          -1.6674996614456177
+        ],
+        "pixel_centroid_x": 7.163120567375887,
+        "normalized_position_x": -0.9440381205673759,
+        "object_pixel_count": 141,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 73
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 72,
+      "question": "Along your path, did you see the chest_of_drawers before or after the shelving?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        425,
+        389
+      ],
+      "metadata": {
+        "object_A_id": 425,
+        "object_A_category": "chest_of_drawers",
+        "object_A_timestep": 0,
+        "object_B_id": 389,
+        "object_B_category": "shelving",
+        "object_B_timestep": 7,
+        "time_gap": 7,
+        "asked_first_object_id": 425,
+        "asked_second_object_id": 389
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 21,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) toilet (B) hallway (C) bathroom",
+      "answer": "B",
+      "options": [
+        "toilet",
+        "hallway",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "toilet",
+          "hallway",
+          "bathroom"
+        ],
+        "query_timestep_internal": 21,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 43,
+      "question": "From your current viewpoint, is the sofa in front of or behind the curtain?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        563,
+        566
+      ],
+      "metadata": {
+        "object_A_id": 563,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          -1.443429946899414,
+          -2.1632795333862305,
+          2.5003697872161865
+        ],
+        "object_B_id": 566,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          1.9159700870513916,
+          -3.1405200958251953,
+          -1.5950398445129395
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          6.416001796722412,
+          0.13123798370361328,
+          1.2927801609039307
+        ],
+        "agent_rotation": [
+          -0.34327468276023865,
+          0.0,
+          -0.9392350316047668,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the meetingroom/conferenceroom you see now directly connected to? (A) entryway/foyer/lobby (B) toilet (C) stairs",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "toilet",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_27",
+        "adjacent_rooms": [
+          "0_19",
+          "0_26"
+        ],
+        "correct_answer_room": "0_26",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "toilet",
+          "stairs"
+        ],
+        "context_rooms": "other room"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 39,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) office (C) hallway",
+    "answer": "C",
+    "options": [
+      "bathroom",
+      "office",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "bathroom",
+        "office",
+        "hallway"
+      ],
+      "query_timestep_internal": 39,
+      "rooms_visited": [
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

test/000445/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 445,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb",
+  "instruction": "InstructionData(instruction_text='Go past the ovens and the counter and wait just before you go outside. ', instruction_tokens=[1067, 1728, 2389, 1668, 119, 2389, 598, 119, 2579, 1293, 281, 2703, 1067, 1665, 15])",
+  "instruction_text": "Go past the ovens and the counter and wait just before you go outside. ",
+  "num_steps": 46,
+  "total_unique_objects": 294,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 45,
+      "question": "Recall your earlier path. When you passed by the sofa in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        320
+      ],
+      "metadata": {
+        "probe_object_id": 320,
+        "probe_category": "sofa",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_19",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 9,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          15.897699356079102,
+          -0.7883310317993164,
+          12.991299629211426
+        ],
+        "agent_position_when_seen": [
+          8.549635887145996,
+          -1.0843499898910522,
+          14.221230506896973
+        ],
+        "pixel_centroid_x": 202.83802816901408,
+        "normalized_position_x": 0.5846720950704225,
+        "object_pixel_count": 142,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 46
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 45,
+      "question": "Along your path, did you see the cabinet before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        43,
+        24
+      ],
+      "metadata": {
+        "object_A_id": 43,
+        "object_A_category": "sofa",
+        "object_A_timestep": 2,
+        "object_B_id": 24,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 24,
+        "asked_second_object_id": 43
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 33,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) toilet (C) kitchen",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "toilet",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "porch/terrace/deck",
+          "toilet",
+          "kitchen"
+        ],
+        "query_timestep_internal": 33,
+        "rooms_visited": [
+          "dining room",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the stairs to the left or right of the counter?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        302,
+        236
+      ],
+      "metadata": {
+        "object_A_id": 302,
+        "object_A_category": "counter",
+        "object_A_position": [
+          10.896400451660156,
+          -0.6652851104736328,
+          12.072400093078613
+        ],
+        "object_B_id": 236,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          1.54656982421875,
+          0.7938517928123474,
+          8.900419235229492
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          8.517260551452637,
+          -1.0843499898910522,
+          13.221753120422363
+        ],
+        "agent_rotation": [
+          -0.9998689889907837,
+          0.0,
+          -0.01619058847427368,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) toilet (B) closet (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "toilet",
+        "closet",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_11",
+        "adjacent_rooms": [
+          "1_10",
+          "1_12",
+          "1_5",
+          "1_6",
+          "1_7",
+          "1_8"
+        ],
+        "correct_answer_room": "1_10",
+        "all_options": [
+          "toilet",
+          "closet",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "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": 9,
+        "current_room": "kitchen",
+        "landmark_room": "living room",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "kitchen",
+          "dining room",
+          "kitchen"
+        ],
+        "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": 34,
+    "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) porch/terrace/deck (B) living room (C) lounge",
+    "answer": "A",
+    "options": [
+      "porch/terrace/deck",
+      "living room",
+      "lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_19",
+      "adjacent_rooms": [
+        "0_18",
+        "0_22"
+      ],
+      "correct_answer_room": "0_22",
+      "all_options": [
+        "porch/terrace/deck",
+        "living room",
+        "lounge"
+      ],
+      "context_rooms": "kitchen"
+    }
+  }
+}

test/000518/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 518,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb",
+  "instruction": "InstructionData(instruction_text='Continue up the stairs. Go straight through the doorway and into the bedroom.  Turn to the left and go past the chair.  Go out the doorway to the rooftop.  Walk through the door and then stop.  Wait. ', instruction_tokens=[569, 2527, 2389, 2222, 15, 1067, 2288, 2418, 2389, 766, 119, 1264, 2389, 273, 15, 2494, 2438, 2389, 1360, 119, 1067, 1728, 2389, 457, 15, 1067, 1658, 2389, 766, 2438, 2389, 1993, 15, 2584, 2418, 2389, 757, 119, 2394, 2278, 15, 2579, 15])",
+  "instruction_text": "Continue up the stairs. Go straight through the doorway and into the bedroom.  Turn to the left and go past the chair.  Go out the doorway to the rooftop.  Walk through the door and then stop.  Wait. ",
+  "num_steps": 50,
+  "total_unique_objects": 246,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "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": [
+        437
+      ],
+      "metadata": {
+        "probe_object_id": 437,
+        "probe_category": "shelving",
+        "probe_room": "closet",
+        "probe_region_id": "0_25",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 3,
+        "num_sightings": 12,
+        "spatial_relation": "right",
+        "object_position": [
+          3.51104998588562,
+          -0.03403663635253906,
+          -0.09105706214904785
+        ],
+        "agent_position_when_seen": [
+          1.2441420555114746,
+          2.5703601837158203,
+          6.502881050109863
+        ],
+        "pixel_centroid_x": 239.94458438287154,
+        "normalized_position_x": 0.8745670654911839,
+        "object_pixel_count": 397,
+        "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 chest_of_drawers before or after the bathtub?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        30
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "chest_of_drawers",
+        "object_A_timestep": 0,
+        "object_B_id": 30,
+        "object_B_category": "bathtub",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 30
+      }
+    },
+    {
+      "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) hallway (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "hallway",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "stairs",
+          "hallway",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 25,
+        "rooms_visited": [
+          "balcony",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the stairs to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        440,
+        236
+      ],
+      "metadata": {
+        "object_A_id": 440,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          4.115349769592285,
+          -0.05468571186065674,
+          -0.5170339941978455
+        ],
+        "object_B_id": 236,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          1.54656982421875,
+          0.7938517928123474,
+          8.900419235229492
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          1.1472034454345703,
+          2.857400417327881,
+          6.272440433502197
+        ],
+        "agent_rotation": [
+          0.9976754784584045,
+          0.0,
+          0.06814465671777725,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 11,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) hallway (B) bar (C) stairs",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bar",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_8",
+        "adjacent_rooms": [
+          "1_11",
+          "1_12",
+          "1_7",
+          "1_9"
+        ],
+        "correct_answer_room": "1_12",
+        "all_options": [
+          "hallway",
+          "bar",
+          "stairs"
+        ],
+        "context_rooms": "bathroom, balcony"
+      }
+    },
+    {
+      "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": "hallway",
+        "landmark_room": "bathroom",
+        "final_room": "balcony",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "balcony"
+        ],
+        "all_rooms_in_trajectory": [
+          "balcony",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 21,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) hallway (C) living room",
+    "answer": "B",
+    "options": [
+      "closet",
+      "hallway",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "closet",
+        "hallway",
+        "living room"
+      ],
+      "query_timestep_internal": 21,
+      "rooms_visited": [
+        "balcony",
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/000571/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 571,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and enter the rightmost door. Keep walking  forward past the kitchen area and wait at the entrance of the bathroom. ', instruction_tokens=[2494, 159, 119, 860, 2389, 1970, 757, 15, 1295, 2588, 993, 1728, 2389, 1306, 150, 119, 2579, 178, 2389, 867, 1605, 2389, 242, 15])",
+  "instruction_text": "Turn around and enter the rightmost door. Keep walking  forward past the kitchen area and wait at the entrance of the bathroom. ",
+  "num_steps": 53,
+  "total_unique_objects": 163,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 52,
+      "question": "Recall your earlier path. When you passed by the objects in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        115
+      ],
+      "metadata": {
+        "probe_object_id": 115,
+        "probe_category": "objects",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 20,
+        "best_view_timestep": 23,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
+          2.8174800872802734,
+          3.503309488296509,
+          3.0732598304748535
+        ],
+        "agent_position_when_seen": [
+          11.882883071899414,
+          0.1702750325202942,
+          2.3085741996765137
+        ],
+        "pixel_centroid_x": 20.53103448275862,
+        "normalized_position_x": -0.8396012931034482,
+        "object_pixel_count": 145,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 53
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 52,
+      "question": "Along your path, did you see the mirror before or after the lighting?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        9,
+        50
+      ],
+      "metadata": {
+        "object_A_id": 9,
+        "object_A_category": "mirror",
+        "object_A_timestep": 4,
+        "object_B_id": 50,
+        "object_B_category": "lighting",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 9,
+        "asked_second_object_id": 50
+      }
+    },
+    {
+      "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) porch/terrace/deck (B) living room (C) bathroom",
+      "answer": "A",
+      "options": [
+        "porch/terrace/deck",
+        "living room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "porch/terrace/deck",
+          "living room",
+          "bathroom"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "laundryroom/mudroom",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 35,
+      "question": "From your current viewpoint, is the picture to the left or right of the objects?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        154,
+        157
+      ],
+      "metadata": {
+        "object_A_id": 154,
+        "object_A_category": "objects",
+        "object_A_position": [
+          12.521900177001953,
+          2.7081096172332764,
+          3.2406396865844727
+        ],
+        "object_B_id": 157,
+        "object_B_category": "picture",
+        "object_B_position": [
+          11.926300048828125,
+          1.7238497734069824,
+          3.2610902786254883
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          11.820343971252441,
+          0.13776008784770966,
+          0.08406783640384674
+        ],
+        "agent_rotation": [
+          -0.9995912909507751,
+          0.0,
+          -0.02858872152864933,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 17,
+      "question": "Based on your exploration and knowledge of the environment, which area is the laundryroom/mudroom you see now directly connected to? (A) kitchen (B) office (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "office",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_3",
+          "0_5",
+          "0_7"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "kitchen",
+          "office",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "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": 21,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "laundryroom/mudroom",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "entryway/foyer/lobby",
+          "kitchen",
+          "laundryroom/mudroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "laundryroom/mudroom",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 52,
+    "question": "Along your path, did you see the mirror before or after the lighting?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      9,
+      50
+    ],
+    "metadata": {
+      "object_A_id": 9,
+      "object_A_category": "mirror",
+      "object_A_timestep": 4,
+      "object_B_id": 50,
+      "object_B_category": "lighting",
+      "object_B_timestep": 7,
+      "time_gap": 3,
+      "asked_first_object_id": 9,
+      "asked_second_object_id": 50
+    }
+  }
+}

test/000660/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 660,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/V2XKFyX4ASd/V2XKFyX4ASd.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk past the bed. Go out the door on your right, and then step onto the checkerboard floor and stop. ', instruction_tokens=[2494, 159, 119, 2584, 1728, 2389, 267, 15, 1067, 1658, 2389, 757, 1613, 2706, 1968, 119, 2394, 2260, 1620, 2389, 476, 959, 119, 2278, 15])",
+  "instruction_text": "Turn around and walk past the bed. Go out the door on your right, and then step onto the checkerboard floor and stop. ",
+  "num_steps": 34,
+  "total_unique_objects": 100,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 33,
+      "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": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        12
+      ],
+      "metadata": {
+        "probe_object_id": 12,
+        "probe_category": "tv_monitor",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 8,
+        "num_sightings": 8,
+        "spatial_relation": "left",
+        "object_position": [
+          4.471560001373291,
+          -1.551300048828125,
+          0.7526929974555969
+        ],
+        "agent_position_when_seen": [
+          5.634439945220947,
+          0.10309600830078125,
+          1.3016400337219238
+        ],
+        "pixel_centroid_x": 106.11566771819138,
+        "normalized_position_x": -0.17097134595162988,
+        "object_pixel_count": 5706,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 34
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 33,
+      "question": "Along your path, did you see the objects before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        10,
+        7
+      ],
+      "metadata": {
+        "object_A_id": 10,
+        "object_A_category": "objects",
+        "object_A_timestep": 3,
+        "object_B_id": 7,
+        "object_B_category": "bed",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 10,
+        "asked_second_object_id": 7
+      }
+    },
+    {
+      "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) spa/sauna (B) junk (C) bedroom",
+      "answer": "C",
+      "options": [
+        "spa/sauna",
+        "junk",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "spa/sauna",
+          "junk",
+          "bedroom"
+        ],
+        "query_timestep_internal": 16,
+        "rooms_visited": [
+          "bedroom",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 29,
+      "question": "From your current viewpoint, is the beam to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        144,
+        124
+      ],
+      "metadata": {
+        "object_A_id": 144,
+        "object_A_category": "bed",
+        "object_A_position": [
+          4.1013898849487305,
+          0.763770580291748,
+          3.1294398307800293
+        ],
+        "object_B_id": 124,
+        "object_B_category": "beam",
+        "object_B_position": [
+          1.1116900444030762,
+          2.7144601345062256,
+          -2.8295702934265137
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          2.6430323123931885,
+          0.10309600830078125,
+          0.36442720890045166
+        ],
+        "agent_rotation": [
+          0.9979332685470581,
+          0.0,
+          -0.06425957381725311,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 27,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) tv (B) junk (C) bathroom",
+      "answer": "C",
+      "options": [
+        "tv",
+        "junk",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_17",
+        "adjacent_rooms": [
+          "2_15",
+          "2_16",
+          "2_18"
+        ],
+        "correct_answer_room": "2_16",
+        "all_options": [
+          "tv",
+          "junk",
+          "bathroom"
+        ],
+        "context_rooms": "rec/game, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "bedroom",
+        "landmark_room": "living room",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "bedroom",
+          "living room",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 33,
+    "question": "Along your path, did you see the bed before or after the objects?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      10,
+      7
+    ],
+    "metadata": {
+      "object_A_id": 10,
+      "object_A_category": "objects",
+      "object_A_timestep": 3,
+      "object_B_id": 7,
+      "object_B_category": "bed",
+      "object_B_timestep": 6,
+      "time_gap": 3,
+      "asked_first_object_id": 7,
+      "asked_second_object_id": 10
+    }
+  }
+}

test/000675/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 675,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn right and go towards the planter.  You'll turn right and walk into a bedroom.  Stand next to the bed and wait. \", instruction_tokens=[2494, 1968, 119, 1067, 2452, 2389, 1812, 15, 2703, 9, 1406, 2494, 1968, 119, 2584, 1264, 73, 273, 15, 2235, 1576, 2438, 2389, 267, 119, 2579, 15])",
+  "instruction_text": "Turn right and go towards the planter.  You'll turn right and walk into a bedroom.  Stand next to the bed and wait. ",
+  "num_steps": 51,
+  "total_unique_objects": 84,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "question": "Recall your earlier path. When you passed by the railing in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        226
+      ],
+      "metadata": {
+        "probe_object_id": 226,
+        "probe_category": "railing",
+        "probe_room": "living room",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 2,
+        "best_view_timestep": 2,
+        "num_sightings": 18,
+        "spatial_relation": "left",
+        "object_position": [
+          -4.232979774475098,
+          3.2079501152038574,
+          -2.5410900115966797
+        ],
+        "agent_position_when_seen": [
+          -7.5756001472473145,
+          -0.2089579850435257,
+          -0.1893479973077774
+        ],
+        "pixel_centroid_x": 34.69505178365938,
+        "normalized_position_x": -0.7289449079401611,
+        "object_pixel_count": 869,
+        "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 beam before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        105,
+        239
+      ],
+      "metadata": {
+        "object_A_id": 105,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 239,
+        "object_B_category": "beam",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 239,
+        "asked_second_object_id": 105
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 31,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) stairs (C) bathroom",
+      "answer": "A",
+      "options": [
+        "living room",
+        "stairs",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "living room",
+          "stairs",
+          "bathroom"
+        ],
+        "query_timestep_internal": 31,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 45,
+      "question": "From your current viewpoint, is the objects to the left or right of the picture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        78,
+        79
+      ],
+      "metadata": {
+        "object_A_id": 78,
+        "object_A_category": "picture",
+        "object_A_position": [
+          1.3785799741744995,
+          1.2758798599243164,
+          0.9561309814453125
+        ],
+        "object_B_id": 79,
+        "object_B_category": "objects",
+        "object_B_position": [
+          0.14963898062705994,
+          -0.1417819857597351,
+          -0.8552870750427246
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -2.081160306930542,
+          -0.2089579850435257,
+          -1.7944111824035645
+        ],
+        "agent_rotation": [
+          -0.5261655449867249,
+          0.0,
+          0.8503821492195129,
+          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) kitchen (B) stairs (C) bedroom",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "stairs",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_1",
+        "adjacent_rooms": [
+          "1_0",
+          "1_13",
+          "1_2",
+          "1_3"
+        ],
+        "correct_answer_room": "1_0",
+        "all_options": [
+          "kitchen",
+          "stairs",
+          "bedroom"
+        ],
+        "context_rooms": "hallway, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "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": 8,
+        "current_room": "living room",
+        "landmark_room": "kitchen",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "living room",
+          "kitchen",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) other room (B) stairs (C) living room",
+    "answer": "C",
+    "options": [
+      "other room",
+      "stairs",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "living room",
+      "all_options": [
+        "other room",
+        "stairs",
+        "living room"
+      ],
+      "query_timestep_internal": 29,
+      "rooms_visited": [
+        "bedroom",
+        "hallway",
+        "kitchen",
+        "living room"
+      ]
+    }
+  }
+}

test/000728/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 728,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb",
+  "instruction": "InstructionData(instruction_text='TURN SLIGHTLY RIGHT AND GO PAST THE DESK, OUT THE DOOR.  WALK STRAIGHT DOWN THE HALL,PAST A BENCH ON THE LEFT,  AND STOP IN THE DOORWAY BEFORE YOU COME TO SOME STAIRS THAT GO UP. ', instruction_tokens=[2494, 2164, 1968, 119, 1067, 1728, 2389, 692, 1658, 2389, 757, 15, 2584, 2288, 780, 2389, 1123, 73, 290, 1613, 2389, 1360, 119, 2278, 1237, 2389, 766, 281, 2703, 544, 2438, 2187, 2222, 2388, 1067, 2527, 15])",
+  "instruction_text": "TURN SLIGHTLY RIGHT AND GO PAST THE DESK, OUT THE DOOR.  WALK STRAIGHT DOWN THE HALL,PAST A BENCH ON THE LEFT,  AND STOP IN THE DOORWAY BEFORE YOU COME TO SOME STAIRS THAT GO UP. ",
+  "num_steps": 34,
+  "total_unique_objects": 217,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 33,
+      "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": [
+        193
+      ],
+      "metadata": {
+        "probe_object_id": 193,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_9",
+        "first_seen_timestep": 27,
+        "best_view_timestep": 27,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          7.044229507446289,
+          0.54442298412323,
+          -0.6784669160842896
+        ],
+        "agent_position_when_seen": [
+          5.446784496307373,
+          -3.3965749740600586,
+          -2.67480731010437
+        ],
+        "pixel_centroid_x": 242.59413202933985,
+        "normalized_position_x": 0.8952666564792175,
+        "object_pixel_count": 1227,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 34
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 33,
+      "question": "Along your path, did you see the bed before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        110,
+        23
+      ],
+      "metadata": {
+        "object_A_id": 110,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 23,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 110,
+        "asked_second_object_id": 23
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 32,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) bathroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "bathroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bedroom",
+          "bathroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 3,
+      "question": "From your current viewpoint, is the chest_of_drawers to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        105,
+        312
+      ],
+      "metadata": {
+        "object_A_id": 105,
+        "object_A_category": "picture",
+        "object_A_position": [
+          3.2576398849487305,
+          0.9726352691650391,
+          -4.343799591064453
+        ],
+        "object_B_id": 312,
+        "object_B_category": "chest_of_drawers",
+        "object_B_position": [
+          1.1740901470184326,
+          -2.24623966217041,
+          -3.67319917678833
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          1.087730050086975,
+          -3.244401454925537,
+          -0.892166018486023
+        ],
+        "agent_rotation": [
+          -0.4950430989265442,
+          0.0,
+          0.8688684701919556,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 7,
+      "question": "You are currently in the familyroom/lounge, and you can see the bathroom. Based on your understanding of the environment layout, which other area is the familyroom/lounge directly connected to? (A) kitchen (B) bedroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_15",
+        "adjacent_rooms": [
+          "0_14",
+          "0_18"
+        ],
+        "correct_answer_room": "0_18",
+        "all_options": [
+          "kitchen",
+          "bedroom",
+          "hallway"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "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": 9,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 12,
+    "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": 12,
+      "current_room": "familyroom/lounge",
+      "landmark_room": "hallway",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "familyroom/lounge",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "familyroom/lounge",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "familyroom/lounge"
+      ]
+    }
+  }
+}

test/000745/meta.json

@@ -0,0 +1,114 @@
+{
+  "episode_id": 745,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb",
+  "instruction": "InstructionData(instruction_text='Go straight  and till the wall to your right ends then take a hard right and stop right behind the couch. ', instruction_tokens=[1067, 2288, 119, 2433, 2389, 2593, 2438, 2706, 1968, 854, 2394, 2352, 73, 1152, 1968, 119, 2278, 1968, 285, 2389, 593, 15])",
+  "instruction_text": "Go straight  and till the wall to your right ends then take a hard right and stop right behind the couch. ",
+  "num_steps": 35,
+  "total_unique_objects": 10,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 34,
+      "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": [
+        508
+      ],
+      "metadata": {
+        "probe_object_id": 508,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_28",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          1.3601399660110474,
+          -1.2059497833251953,
+          1.7970600128173828
+        ],
+        "agent_position_when_seen": [
+          3.313390016555786,
+          0.0844111442565918,
+          2.0536599159240723
+        ],
+        "pixel_centroid_x": 250.03108808290156,
+        "normalized_position_x": 0.9533678756476685,
+        "object_pixel_count": 193,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 35
+      }
+    },
+    {
+      "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) spa/sauna (B) hallway (C) office",
+      "answer": "B",
+      "options": [
+        "spa/sauna",
+        "hallway",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "spa/sauna",
+          "hallway",
+          "office"
+        ],
+        "query_timestep_internal": 3,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 34,
+    "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": [
+      447
+    ],
+    "metadata": {
+      "probe_object_id": 447,
+      "probe_category": "stairs",
+      "probe_room": "stairs",
+      "probe_region_id": "0_24",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 0,
+      "num_sightings": 1,
+      "spatial_relation": "right",
+      "object_position": [
+        -0.4208409786224365,
+        -2.6869699954986572,
+        3.1640498638153076
+      ],
+      "agent_position_when_seen": [
+        3.313390016555786,
+        0.0844111442565918,
+        2.0536599159240723
+      ],
+      "pixel_centroid_x": 232.44444444444446,
+      "normalized_position_x": 0.8159722222222223,
+      "object_pixel_count": 450,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 35
+    }
+  }
+}

test/000746/meta.json

@@ -0,0 +1,219 @@
+{
+  "episode_id": 746,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
+  "instruction": "InstructionData(instruction_text='Walk from the sitting room and make a left at the first entryway. Walk past the room with the stairway and through the doorway across the hall. Wait in that doorway. ', instruction_tokens=[2584, 1017, 2389, 2139, 1994, 119, 1446, 73, 1360, 178, 2389, 946, 872, 15, 2584, 1728, 2389, 1994, 2661, 2389, 2225, 119, 2418, 2389, 766, 85, 2389, 1121, 15, 2579, 1237, 2388, 766, 15])",
+  "instruction_text": "Walk from the sitting room and make a left at the first entryway. Walk past the room with the stairway and through the doorway across the hall. Wait in that doorway. ",
+  "num_steps": 62,
+  "total_unique_objects": 313,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "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": [
+        507
+      ],
+      "metadata": {
+        "probe_object_id": 507,
+        "probe_category": "cabinet",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_25",
+        "first_seen_timestep": 27,
+        "best_view_timestep": 27,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          4.494619846343994,
+          0.49274778366088867,
+          3.4423696994781494
+        ],
+        "agent_position_when_seen": [
+          -5.104656219482422,
+          0.011268138885498047,
+          -6.065844535827637
+        ],
+        "pixel_centroid_x": 233.2016129032258,
+        "normalized_position_x": 0.8218876008064515,
+        "object_pixel_count": 124,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 62
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 43,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) other room (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "other room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bathroom",
+          "other room",
+          "hallway"
+        ],
+        "query_timestep_internal": 43,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the sofa to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        578,
+        610
+      ],
+      "metadata": {
+        "object_A_id": 578,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -6.939899921417236,
+          0.24338985979557037,
+          1.66677987575531
+        ],
+        "object_B_id": 610,
+        "object_B_category": "sofa",
+        "object_B_position": [
+          -6.04971981048584,
+          0.4113807678222656,
+          -4.124199867248535
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -8.917659759521484,
+          0.011268138885498047,
+          -5.191720008850098
+        ],
+        "agent_rotation": [
+          -0.17362330853939056,
+          0.0,
+          -0.9848122000694275,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 16,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) closet (B) office (C) dining room",
+      "answer": "C",
+      "options": [
+        "closet",
+        "office",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_20",
+        "adjacent_rooms": [
+          "1_26",
+          "1_27",
+          "1_29"
+        ],
+        "correct_answer_room": "1_27",
+        "all_options": [
+          "closet",
+          "office",
+          "dining room"
+        ],
+        "context_rooms": "hallway, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 29,
+      "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": 29,
+        "current_room": "living room",
+        "landmark_room": "hallway",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "living room",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 1,
+    "question": "From your current viewpoint, is the sofa to the left or right of the chair?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      578,
+      610
+    ],
+    "metadata": {
+      "object_A_id": 578,
+      "object_A_category": "chair",
+      "object_A_position": [
+        -6.939899921417236,
+        0.24338985979557037,
+        1.66677987575531
+      ],
+      "object_B_id": 610,
+      "object_B_category": "sofa",
+      "object_B_position": [
+        -6.04971981048584,
+        0.4113807678222656,
+        -4.124199867248535
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -8.917659759521484,
+        0.011268138885498047,
+        -5.191720008850098
+      ],
+      "agent_rotation": [
+        -0.17362330853939056,
+        0.0,
+        -0.9848122000694275,
+        0.0
+      ]
+    }
+  }
+}

test/000859/meta.json

@@ -0,0 +1,247 @@
+{
+  "episode_id": 859,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb",
+  "instruction": "InstructionData(instruction_text='Walk right by the rocking chairs and go inside.  Turn right.  Stand in the bedroom doorway by the washing machine. ', instruction_tokens=[2584, 1968, 404, 2389, 1985, 458, 119, 1067, 1249, 15, 2494, 1968, 15, 2235, 1237, 2389, 273, 766, 404, 2389, 2608, 1439, 15])",
+  "instruction_text": "Walk right by the rocking chairs and go inside.  Turn right.  Stand in the bedroom doorway by the washing machine. ",
+  "num_steps": 56,
+  "total_unique_objects": 195,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 55,
+      "question": "Recall your earlier path. When you passed by the plant in the kitchen, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        88
+      ],
+      "metadata": {
+        "probe_object_id": 88,
+        "probe_category": "plant",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 43,
+        "best_view_timestep": 43,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.1608400344848633,
+          2.0162696838378906,
+          4.373530387878418
+        ],
+        "agent_position_when_seen": [
+          1.0203893184661865,
+          0.9353892207145691,
+          1.3512786626815796
+        ],
+        "pixel_centroid_x": 29.76851851851852,
+        "normalized_position_x": -0.7674334490740741,
+        "object_pixel_count": 108,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 56
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 55,
+      "question": "Along your path, did you see the chair before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        47,
+        70
+      ],
+      "metadata": {
+        "object_A_id": 47,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 70,
+        "object_B_category": "objects",
+        "object_B_timestep": 19,
+        "time_gap": 19,
+        "asked_first_object_id": 47,
+        "asked_second_object_id": 70
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 14,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) bedroom (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "office",
+        "bedroom",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "office",
+          "bedroom",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 14,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "laundryroom/mudroom",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the chair to the left or right of the appliances?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        84,
+        64
+      ],
+      "metadata": {
+        "object_A_id": 84,
+        "object_A_category": "appliances",
+        "object_A_position": [
+          -1.9404799938201904,
+          1.2555899620056152,
+          2.7960896492004395
+        ],
+        "object_B_id": 64,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -1.3895699977874756,
+          1.2525500059127808,
+          0.34288299083709717
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          5.193739891052246,
+          0.721511960029602,
+          2.086440086364746
+        ],
+        "agent_rotation": [
+          0.7166590094566345,
+          0.0,
+          0.6974236965179443,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 50,
+      "question": "Based on your exploration and knowledge of the environment, which area is the laundryroom/mudroom you see now directly connected to? (A) kitchen (B) office (C) living room",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "office",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_3",
+          "0_5",
+          "0_7"
+        ],
+        "correct_answer_room": "0_3",
+        "all_options": [
+          "kitchen",
+          "office",
+          "living room"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "office",
+        "final_room": "laundryroom/mudroom",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "entryway/foyer/lobby",
+          "laundryroom/mudroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "laundryroom/mudroom",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 37,
+    "question": "From your current viewpoint, is the table to the left or right of the chair?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      64,
+      63
+    ],
+    "metadata": {
+      "object_A_id": 64,
+      "object_A_category": "chair",
+      "object_A_position": [
+        -1.3895699977874756,
+        1.2525500059127808,
+        0.34288299083709717
+      ],
+      "object_B_id": 63,
+      "object_B_category": "table",
+      "object_B_position": [
+        -1.8919099569320679,
+        1.1855798959732056,
+        0.3366280794143677
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        1.1786922216415405,
+        0.8055729866027832,
+        2.0326132774353027
+      ],
+      "agent_rotation": [
+        0.928999125957489,
+        0.0,
+        0.3700820803642273,
+        0.0
+      ]
+    }
+  }
+}

test/000873/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 873,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='TURN LEFT UNTIL YOU FACE AN OPENING LOOKING AT A LIVING ROOM WITH A LIGHT SWITCH ON THE RIGHT, WALK INTO THE LIVING ROOM AND TURN RIGHT, WALK BEHIND THE COUCH PAST A ROUND TABLE, CONTINUING FORWARD WALK TO THE DINNING TABLE NEAR A BUILT IN BAR SHELF ON THE RIGHT. ', instruction_tokens=[2494, 1360, 2524, 2703, 903, 118, 1627, 1421, 178, 73, 1404, 1994, 2661, 73, 1378, 2333, 1613, 2389, 1968, 2584, 1264, 2389, 1404, 1994, 119, 2494, 1968, 2584, 285, 2389, 593, 1728, 73, 2005, 2342, 572, 993, 2584, 2438, 2389, 715, 2342, 1563, 73, 383, 1237, 217, 2096, 1613, 2389, 1968, 15])",
+  "instruction_text": "TURN LEFT UNTIL YOU FACE AN OPENING LOOKING AT A LIVING ROOM WITH A LIGHT SWITCH ON THE RIGHT, WALK INTO THE LIVING ROOM AND TURN RIGHT, WALK BEHIND THE COUCH PAST A ROUND TABLE, CONTINUING FORWARD WALK TO THE DINNING TABLE NEAR A BUILT IN BAR SHELF ON THE RIGHT. ",
+  "num_steps": 68,
+  "total_unique_objects": 209,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 67,
+      "question": "Recall your earlier path. When you passed by the plant in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        624
+      ],
+      "metadata": {
+        "probe_object_id": 624,
+        "probe_category": "plant",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_25",
+        "first_seen_timestep": 2,
+        "best_view_timestep": 2,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.053539991378784,
+          0.22755193710327148,
+          6.7415900230407715
+        ],
+        "agent_position_when_seen": [
+          6.048850059509277,
+          0.24283599853515625,
+          -2.9341299533843994
+        ],
+        "pixel_centroid_x": 13.01980198019802,
+        "normalized_position_x": -0.8982827970297029,
+        "object_pixel_count": 101,
+        "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 curtain before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        407,
+        251
+      ],
+      "metadata": {
+        "object_A_id": 407,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 251,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 407,
+        "asked_second_object_id": 251
+      }
+    },
+    {
+      "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) 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": 66,
+        "rooms_visited": [
+          "dining room",
+          "entryway/foyer/lobby",
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 3,
+      "question": "From your current viewpoint, is the chair to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        456,
+        419
+      ],
+      "metadata": {
+        "object_A_id": 456,
+        "object_A_category": "table",
+        "object_A_position": [
+          0.04727312922477722,
+          0.4301290512084961,
+          2.059070110321045
+        ],
+        "object_B_id": 419,
+        "object_B_category": "chair",
+        "object_B_position": [
+          2.373879909515381,
+          0.4748789072036743,
+          1.4523098468780518
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          6.048850059509277,
+          0.24283599853515625,
+          -2.9341299533843994
+        ],
+        "agent_rotation": [
+          -0.8429311513900757,
+          0.0,
+          -0.5380213856697083,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 41,
+      "question": "Based on your exploration and knowledge of the environment, which area is the outdoor you see now directly connected to? (A) hallway (B) bathroom (C) other room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bathroom",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_29",
+        "adjacent_rooms": [
+          "0_10",
+          "0_14",
+          "0_16",
+          "0_18",
+          "0_24",
+          "0_28",
+          "0_4"
+        ],
+        "correct_answer_room": "0_16",
+        "all_options": [
+          "hallway",
+          "bathroom",
+          "other room"
+        ],
+        "context_rooms": "garage, dining room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "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": 8,
+        "current_room": "hallway",
+        "landmark_room": "living room",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "hallway",
+          "living room",
+          "entryway/foyer/lobby",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "entryway/foyer/lobby",
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 3,
+    "question": "You are currently in the hallway, and you can see the garage, living room. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) closet (B) dining room (C) outdoor",
+    "answer": "C",
+    "options": [
+      "closet",
+      "dining room",
+      "outdoor"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_20",
+      "adjacent_rooms": [
+        "0_11",
+        "0_17",
+        "0_19",
+        "0_24"
+      ],
+      "correct_answer_room": "0_24",
+      "all_options": [
+        "closet",
+        "dining room",
+        "outdoor"
+      ],
+      "context_rooms": "garage, living room"
+    }
+  }
+}

test/000879/meta.json

@@ -0,0 +1,116 @@
+{
+  "episode_id": 879,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Walk along the balcony with the railing on your left. Walk past the bistro table on the left and stop. ', instruction_tokens=[2584, 108, 2389, 203, 2661, 2389, 1910, 1613, 2706, 1360, 15, 2584, 1728, 2389, 312, 2342, 1613, 2389, 1360, 119, 2278, 15])",
+  "instruction_text": "Walk along the balcony with the railing on your left. Walk past the bistro table on the left and stop. ",
+  "num_steps": 42,
+  "total_unique_objects": 327,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 41,
+      "question": "Recall your earlier path. When you passed by the fireplace in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        511
+      ],
+      "metadata": {
+        "probe_object_id": 511,
+        "probe_category": "fireplace",
+        "probe_room": "living room",
+        "probe_region_id": "1_21",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 4,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          2.3726799488067627,
+          0.9825499057769775,
+          0.4715120792388916
+        ],
+        "agent_position_when_seen": [
+          -10.736700057983398,
+          -3.508549928665161,
+          -7.6661601066589355
+        ],
+        "pixel_centroid_x": 233.78,
+        "normalized_position_x": 0.82640625,
+        "object_pixel_count": 100,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 42
+      }
+    },
+    {
+      "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) porch/terrace/deck (C) toilet",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "porch/terrace/deck",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "bathroom",
+          "porch/terrace/deck",
+          "toilet"
+        ],
+        "query_timestep_internal": 22,
+        "rooms_visited": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 0,
+    "question": "From your current viewpoint, is the table to the left or right of the bed?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      679,
+      684
+    ],
+    "metadata": {
+      "object_A_id": 679,
+      "object_A_category": "bed",
+      "object_A_position": [
+        -1.605679988861084,
+        4.681479454040527,
+        1.2386102676391602
+      ],
+      "object_B_id": 684,
+      "object_B_category": "table",
+      "object_B_position": [
+        2.706049919128418,
+        4.63847017288208,
+        3.1098999977111816
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -10.736700057983398,
+        -3.508549928665161,
+        -7.6661601066589355
+      ],
+      "agent_rotation": [
+        0.23050113022327423,
+        0.0,
+        -0.9730720520019531,
+        0.0
+      ]
+    }
+  }
+}

test/000889/meta.json

@@ -0,0 +1,168 @@
+{
+  "episode_id": 889,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Pm6F8kyY3z2/Pm6F8kyY3z2.glb",
+  "instruction": "InstructionData(instruction_text='With the pool on your left walk straight and go through the tan and green patio chairs towards the stairs out of the patio stopping before you hit the mosaic at the bottom of the stairs. ', instruction_tokens=[2661, 2389, 1846, 1613, 2706, 1360, 2584, 2288, 119, 1067, 2418, 2389, 2360, 119, 1098, 1737, 458, 2452, 2389, 2222, 1658, 1605, 2389, 1737, 2279, 281, 2703, 1189, 2389, 1529, 178, 2389, 348, 1605, 2389, 2222, 15])",
+  "instruction_text": "With the pool on your left walk straight and go through the tan and green patio chairs towards the stairs out of the patio stopping before you hit the mosaic at the bottom of the stairs. ",
+  "num_steps": 36,
+  "total_unique_objects": 57,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 35,
+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        82
+      ],
+      "metadata": {
+        "probe_object_id": 82,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 27,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          3.206010103225708,
+          -1.2500698566436768,
+          -1.4949097633361816
+        ],
+        "agent_position_when_seen": [
+          0.24205642938613892,
+          -0.5108799934387207,
+          4.628668308258057
+        ],
+        "pixel_centroid_x": 248.35714285714286,
+        "normalized_position_x": 0.9402901785714286,
+        "object_pixel_count": 112,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 36
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 35,
+      "question": "Along your path, did you see the column before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        53
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "sofa",
+        "object_A_timestep": 8,
+        "object_B_id": 53,
+        "object_B_category": "column",
+        "object_B_timestep": 12,
+        "time_gap": 4,
+        "asked_first_object_id": 53,
+        "asked_second_object_id": 7
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 22,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) bedroom (C) lounge",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "bedroom",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "stairs",
+          "bedroom",
+          "lounge"
+        ],
+        "query_timestep_internal": 22,
+        "rooms_visited": [
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 29,
+      "question": "From your current viewpoint, is the column to the left or right of the chair?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        56,
+        53
+      ],
+      "metadata": {
+        "object_A_id": 56,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -1.5874700546264648,
+          -0.019291400909423828,
+          3.372649669647217
+        ],
+        "object_B_id": 53,
+        "object_B_category": "column",
+        "object_B_position": [
+          -2.157860040664673,
+          1.7920098304748535,
+          1.2721298933029175
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          0.24867039918899536,
+          -0.5108799934387207,
+          4.128712177276611
+        ],
+        "agent_rotation": [
+          0.9999781250953674,
+          0.0,
+          -0.006614125333726406,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 35,
+    "question": "Along your path, did you see the column before or after the sofa?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      7,
+      53
+    ],
+    "metadata": {
+      "object_A_id": 7,
+      "object_A_category": "sofa",
+      "object_A_timestep": 8,
+      "object_B_id": 53,
+      "object_B_category": "column",
+      "object_B_timestep": 12,
+      "time_gap": 4,
+      "asked_first_object_id": 53,
+      "asked_second_object_id": 7
+    }
+  }
+}

test/000894/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 894,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VFuaQ6m2Qom/VFuaQ6m2Qom.glb",
+  "instruction": "InstructionData(instruction_text='Head out the door.  Take a right. Go around the banisters and stop once ahead of them. ', instruction_tokens=[1162, 1658, 2389, 757, 15, 2352, 73, 1968, 15, 1067, 159, 2389, 212, 119, 2278, 1615, 98, 1605, 2393, 15])",
+  "instruction_text": "Head out the door.  Take a right. Go around the banisters and stop once ahead of them. ",
+  "num_steps": 65,
+  "total_unique_objects": 174,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 64,
+      "question": "Recall your earlier path. When you passed by the sofa in the rec/game, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        4
+      ],
+      "metadata": {
+        "probe_object_id": 4,
+        "probe_category": "sofa",
+        "probe_room": "rec/game",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 9,
+        "num_sightings": 5,
+        "spatial_relation": "left",
+        "object_position": [
+          -21.62929916381836,
+          -3.2237601280212402,
+          4.6985297203063965
+        ],
+        "agent_position_when_seen": [
+          -18.38802146911621,
+          4.45781946182251,
+          4.00169563293457
+        ],
+        "pixel_centroid_x": 17.78616173120729,
+        "normalized_position_x": -0.8610456114749431,
+        "object_pixel_count": 3512,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 65
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 64,
+      "question": "Along your path, did you see the chair before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        3,
+        11
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 11,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 3,
+        "asked_second_object_id": 11
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 60,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) bathroom (C) dining room",
+      "answer": "B",
+      "options": [
+        "living room",
+        "bathroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "living room",
+          "bathroom",
+          "dining room"
+        ],
+        "query_timestep_internal": 60,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 47,
+      "question": "From your current viewpoint, is the  to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        517,
+        32
+      ],
+      "metadata": {
+        "object_A_id": 517,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -16.29010009765625,
+          5.344599723815918,
+          1.608750343322754
+        ],
+        "object_B_id": 32,
+        "object_B_category": "",
+        "object_B_position": [
+          -8.186840057373047,
+          1.8781509399414062,
+          -10.746498107910156
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -18.275907516479492,
+          4.45781946182251,
+          -1.9712092876434326
+        ],
+        "agent_rotation": [
+          -0.9840201139450073,
+          0.0,
+          0.17805761098861694,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 37,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) other room (B) bedroom (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "other room",
+        "bedroom",
+        "familyroom/lounge"
+      ],
+      "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_25",
+        "all_options": [
+          "other room",
+          "bedroom",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "bedroom",
+        "landmark_room": "other room",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "bathroom",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 64,
+    "question": "Along your path, did you see the chair before or after the table?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      3,
+      11
+    ],
+    "metadata": {
+      "object_A_id": 3,
+      "object_A_category": "chair",
+      "object_A_timestep": 0,
+      "object_B_id": 11,
+      "object_B_category": "table",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 3,
+      "asked_second_object_id": 11
+    }
+  }
+}

test/000950/meta.json

@@ -0,0 +1,140 @@
+{
+  "episode_id": 950,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JmbYfDe2QKZ/JmbYfDe2QKZ.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the stairs and then walk to your right and go through the double swinging doors.  Make a left and stand in front of the bedroom. ', instruction_tokens=[2584, 2452, 2389, 2222, 119, 2394, 2584, 2438, 2706, 1968, 119, 1067, 2418, 2389, 775, 2330, 762, 15, 1446, 73, 1360, 119, 2235, 1237, 1019, 1605, 2389, 273, 15])",
+  "instruction_text": "Walk towards the stairs and then walk to your right and go through the double swinging doors.  Make a left and stand in front of the bedroom. ",
+  "num_steps": 50,
+  "total_unique_objects": 126,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the plant in the stairs, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        190
+      ],
+      "metadata": {
+        "probe_object_id": 190,
+        "probe_category": "plant",
+        "probe_room": "stairs",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 15,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.6296199560165405,
+          0.7674968242645264,
+          1.8776799440383911
+        ],
+        "agent_position_when_seen": [
+          -4.617575168609619,
+          2.674846887588501,
+          -0.4941774010658264
+        ],
+        "pixel_centroid_x": 62.29772329246935,
+        "normalized_position_x": -0.5132990367775832,
+        "object_pixel_count": 571,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 50
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 5,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) balcony (C) bedroom",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "balcony",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "kitchen",
+          "balcony",
+          "bedroom"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "balcony"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the objects?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        247,
+        252
+      ],
+      "metadata": {
+        "object_A_id": 247,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -6.949069976806641,
+          2.2179996967315674,
+          5.450750350952148
+        ],
+        "object_B_id": 252,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -5.20304012298584,
+          0.9284789562225342,
+          4.231690406799316
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -5.3583502769470215,
+          2.674846887588501,
+          -0.42183351516723633
+        ],
+        "agent_rotation": [
+          0.9379947781562805,
+          0.0,
+          0.3466496765613556,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 44,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) bathroom (C) balcony",
+    "answer": "C",
+    "options": [
+      "stairs",
+      "bathroom",
+      "balcony"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "balcony",
+      "all_options": [
+        "stairs",
+        "bathroom",
+        "balcony"
+      ],
+      "query_timestep_internal": 44,
+      "rooms_visited": [
+        "balcony"
+      ]
+    }
+  }
+}

test/000965/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 965,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Go up the stairs and take a right into the main room going straight into the living room and stopping behind the couch on the right side near the door. ', instruction_tokens=[1067, 2527, 2389, 2222, 119, 2352, 73, 1968, 1264, 2389, 1445, 1994, 1071, 2288, 1264, 2389, 1404, 1994, 119, 2279, 285, 2389, 593, 1613, 2389, 1968, 2121, 1563, 2389, 757, 15])",
+  "instruction_text": "Go up the stairs and take a right into the main room going straight into the living room and stopping behind the couch on the right side near the door. ",
+  "num_steps": 48,
+  "total_unique_objects": 265,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 47,
+      "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": [
+        92
+      ],
+      "metadata": {
+        "probe_object_id": 92,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 2,
+        "best_view_timestep": 9,
+        "num_sightings": 8,
+        "spatial_relation": "left",
+        "object_position": [
+          -11.579700469970703,
+          -2.0392603874206543,
+          4.209449291229248
+        ],
+        "agent_position_when_seen": [
+          -10.272979736328125,
+          0.1518409252166748,
+          6.52808952331543
+        ],
+        "pixel_centroid_x": 37.29156626506024,
+        "normalized_position_x": -0.7086596385542169,
+        "object_pixel_count": 415,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 48
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 47,
+      "question": "Along your path, did you see the shower before or after the cushion?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        14,
+        482
+      ],
+      "metadata": {
+        "object_A_id": 14,
+        "object_A_category": "shower",
+        "object_A_timestep": 0,
+        "object_B_id": 482,
+        "object_B_category": "cushion",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 14,
+        "asked_second_object_id": 482
+      }
+    },
+    {
+      "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) office (B) living room (C) bedroom",
+      "answer": "B",
+      "options": [
+        "office",
+        "living room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "office",
+          "living room",
+          "bedroom"
+        ],
+        "query_timestep_internal": 47,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "living room",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 29,
+      "question": "From your current viewpoint, is the beam to the left or right of the chair?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        39,
+        30
+      ],
+      "metadata": {
+        "object_A_id": 39,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -3.7769100666046143,
+          -2.261470317840576,
+          4.824160099029541
+        ],
+        "object_B_id": 30,
+        "object_B_category": "beam",
+        "object_B_position": [
+          -2.3206801414489746,
+          -0.4407479763031006,
+          2.008009910583496
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -7.564932823181152,
+          0.1518409252166748,
+          4.36108922958374
+        ],
+        "agent_rotation": [
+          0.8471469283103943,
+          0.0,
+          -0.5313588380813599,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 13,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) hallway (B) tv (C) bathroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "tv",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_23",
+        "adjacent_rooms": [
+          "2_24",
+          "2_25"
+        ],
+        "correct_answer_room": "2_24",
+        "all_options": [
+          "hallway",
+          "tv",
+          "bathroom"
+        ],
+        "context_rooms": "closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 2,
+      "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": 2,
+        "current_room": "stairs",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "stairs",
+          "entryway/foyer/lobby",
+          "living room"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "living room",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 14,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) stairs (B) kitchen (C) bathroom",
+    "answer": "A",
+    "options": [
+      "stairs",
+      "kitchen",
+      "bathroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_9",
+      "adjacent_rooms": [
+        "0_10",
+        "0_11",
+        "0_6",
+        "0_8"
+      ],
+      "correct_answer_room": "0_10",
+      "all_options": [
+        "stairs",
+        "kitchen",
+        "bathroom"
+      ],
+      "context_rooms": "other room, hallway"
+    }
+  }
+}

test/000978/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 978,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VFuaQ6m2Qom/VFuaQ6m2Qom.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the room with the piano and into the living room. Wait just outside the doorway and behind the couch. ', instruction_tokens=[2584, 1658, 1605, 2389, 1994, 2661, 2389, 1773, 119, 1264, 2389, 1404, 1994, 15, 2579, 1293, 1665, 2389, 766, 119, 285, 2389, 593, 15])",
+  "instruction_text": "Walk out of the room with the piano and into the living room. Wait just outside the doorway and behind the couch. ",
+  "num_steps": 50,
+  "total_unique_objects": 164,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "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": [
+        130
+      ],
+      "metadata": {
+        "probe_object_id": 130,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "1_6",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 13,
+        "num_sightings": 12,
+        "spatial_relation": "right",
+        "object_position": [
+          -8.959529876708984,
+          1.4803301095962524,
+          -1.9555699825286865
+        ],
+        "agent_position_when_seen": [
+          -13.97004222869873,
+          0.05781888961791992,
+          -7.555080890655518
+        ],
+        "pixel_centroid_x": 211.5078577336642,
+        "normalized_position_x": 0.6524051385442515,
+        "object_pixel_count": 2418,
+        "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  before or after the stairs?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        32,
+        110
+      ],
+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_timestep": 1,
+        "object_B_id": 110,
+        "object_B_category": "stairs",
+        "object_B_timestep": 4,
+        "time_gap": 3,
+        "asked_first_object_id": 32,
+        "asked_second_object_id": 110
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 31,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) outdoor (B) lounge (C) living room",
+      "answer": "C",
+      "options": [
+        "outdoor",
+        "lounge",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "outdoor",
+          "lounge",
+          "living room"
+        ],
+        "query_timestep_internal": 31,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 10,
+      "question": "From your current viewpoint, is the  to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        445,
+        32
+      ],
+      "metadata": {
+        "object_A_id": 445,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          -7.481939792633057,
+          6.090169429779053,
+          6.131690502166748
+        ],
+        "object_B_id": 32,
+        "object_B_category": "",
+        "object_B_position": [
+          -8.186840057373047,
+          1.8781509399414062,
+          -10.746498107910156
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -14.469544410705566,
+          0.05781888961791992,
+          -7.577377796173096
+        ],
+        "agent_rotation": [
+          0.6911609172821045,
+          0.0,
+          -0.7227009534835815,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 12,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) porch/terrace/deck (B) bedroom (C) kitchen",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_23",
+        "adjacent_rooms": [
+          "2_21",
+          "2_22",
+          "2_24",
+          "2_27",
+          "2_29",
+          "2_30",
+          "2_31"
+        ],
+        "correct_answer_room": "2_21",
+        "all_options": [
+          "porch/terrace/deck",
+          "bedroom",
+          "kitchen"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "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": 8,
+        "current_room": "living room",
+        "landmark_room": "other room",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "living room",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 49,
+    "question": "Along your path, did you see the  before or after the stairs?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      32,
+      110
+    ],
+    "metadata": {
+      "object_A_id": 32,
+      "object_A_category": "",
+      "object_A_timestep": 1,
+      "object_B_id": 110,
+      "object_B_category": "stairs",
+      "object_B_timestep": 4,
+      "time_gap": 3,
+      "asked_first_object_id": 32,
+      "asked_second_object_id": 110
+    }
+  }
+}

test/000987/meta.json

@@ -0,0 +1,58 @@
+{
+  "episode_id": 987,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VzqfbhrpDEA/VzqfbhrpDEA.glb",
+  "instruction": "InstructionData(instruction_text='TURN SLIGHTLY TO THE RIGHT SO THAT A BALCONY RAILING IS ON THE RIGHT AND AN OPEN DOOR BOTH TO THE LEFT AND IN FRONT OF YOU, WALK FORWARD THOUGH THE DOOR STRIGHT AHEAD, FACING A SHORT HALLWAY WITH A DOOR TO BOTH THE RIGHT AND LEFT AND A DOOR FORWARD TURN TO THE LEFT HAND DOOR AND WALK INTO THE ENTRANCE WAY. ', instruction_tokens=[2494, 2164, 2438, 2389, 1968, 2178, 2388, 73, 203, 1910, 1267, 1613, 2389, 1968, 119, 118, 1625, 757, 345, 2438, 2389, 1360, 119, 1237, 1019, 1605, 2703, 2584, 993, 2411, 2389, 757, 2297, 98, 906, 73, 2107, 1126, 2661, 73, 757, 2438, 345, 2389, 1968, 119, 1360, 119, 73, 757, 993, 2494, 2438, 2389, 1360, 1135, 757, 119, 2584, 1264, 2389, 867, 2616, 15])",
+  "instruction_text": "TURN SLIGHTLY TO THE RIGHT SO THAT A BALCONY RAILING IS ON THE RIGHT AND AN OPEN DOOR BOTH TO THE LEFT AND IN FRONT OF YOU, WALK FORWARD THOUGH THE DOOR STRIGHT AHEAD, FACING A SHORT HALLWAY WITH A DOOR TO BOTH THE RIGHT AND LEFT AND A DOOR FORWARD TURN TO THE LEFT HAND DOOR AND WALK INTO THE ENTRANCE WAY. ",
+  "num_steps": 36,
+  "total_unique_objects": 296,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 4,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) toilet (B) hallway (C) utilityroom/toolroom",
+      "answer": "B",
+      "options": [
+        "toilet",
+        "hallway",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "toilet",
+          "hallway",
+          "utilityroom/toolroom"
+        ],
+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) bathroom (B) hallway (C) entryway/foyer/lobby",
+    "answer": "B",
+    "options": [
+      "bathroom",
+      "hallway",
+      "entryway/foyer/lobby"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "bathroom",
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "query_timestep_internal": 32,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

test/001078/meta.json

@@ -0,0 +1,191 @@
+{
+  "episode_id": 1078,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Go straight through the door and head towards the kitchen and then take a right at the table and then go straight and stop right before the table. ', instruction_tokens=[1067, 2288, 2418, 2389, 757, 119, 1162, 2452, 2389, 1306, 119, 2394, 2352, 73, 1968, 178, 2389, 2342, 119, 2394, 1067, 2288, 119, 2278, 1968, 281, 2389, 2342, 15])",
+  "instruction_text": "Go straight through the door and head towards the kitchen and then take a right at the table and then go straight and stop right before the table. ",
+  "num_steps": 78,
+  "total_unique_objects": 899,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "question": "Recall your earlier path. When you passed by the table in the kitchen, was it on your left side or right side?",
+      "answer": "left",
+      "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": 44,
+        "best_view_timestep": 51,
+        "num_sightings": 9,
+        "spatial_relation": "left",
+        "object_position": [
+          -8.59241008758545,
+          0.39234161376953125,
+          9.476399421691895
+        ],
+        "agent_position_when_seen": [
+          -7.261551856994629,
+          0.13922199606895447,
+          8.488899230957031
+        ],
+        "pixel_centroid_x": 41.879746835443036,
+        "normalized_position_x": -0.6728144778481013,
+        "object_pixel_count": 158,
+        "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 lighting before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        46
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 46,
+        "object_B_category": "lighting",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 46,
+        "asked_second_object_id": 1
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 54,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) workout/gym/exercise (C) bathroom",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "workout/gym/exercise",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "workout/gym/exercise",
+          "bathroom"
+        ],
+        "query_timestep_internal": 54,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 15,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) closet (B) workout/gym/exercise (C) lounge",
+      "answer": "B",
+      "options": [
+        "closet",
+        "workout/gym/exercise",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_12",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_13",
+          "0_15",
+          "0_17",
+          "0_18",
+          "0_24"
+        ],
+        "correct_answer_room": "0_17",
+        "all_options": [
+          "closet",
+          "workout/gym/exercise",
+          "lounge"
+        ],
+        "context_rooms": "living room, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "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": 9,
+        "current_room": "laundryroom/mudroom",
+        "landmark_room": "hallway",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "laundryroom/mudroom",
+          "hallway",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "laundryroom/mudroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) office (B) utilityroom/toolroom (C) kitchen",
+    "answer": "C",
+    "options": [
+      "office",
+      "utilityroom/toolroom",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "office",
+        "utilityroom/toolroom",
+        "kitchen"
+      ],
+      "query_timestep_internal": 37,
+      "rooms_visited": [
+        "hallway",
+        "kitchen",
+        "laundryroom/mudroom"
+      ]
+    }
+  }
+}

test/001085/meta.json

@@ -0,0 +1,195 @@
+{
+  "episode_id": 1085,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/i5noydFURQK/i5noydFURQK.glb",
+  "instruction": "InstructionData(instruction_text='Go to the first sink\\r\\nGo to the second sink\\r\\nGo to the painting\\r\\nGo to the beach painting\\r\\nGo to the doorknob. ', instruction_tokens=[1067, 2438, 2389, 946, 2132, 1067, 2438, 2389, 2054, 2132, 1067, 2438, 2389, 1688, 1067, 2438, 2389, 253, 1688, 1067, 2438, 2389, 759, 15])",
+  "instruction_text": "Go to the first sink\r\nGo to the second sink\r\nGo to the painting\r\nGo to the beach painting\r\nGo to the doorknob. ",
+  "num_steps": 32,
+  "total_unique_objects": 122,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 31,
+      "question": "Recall your earlier path. When you passed by the table in the dining room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        244
+      ],
+      "metadata": {
+        "probe_object_id": 244,
+        "probe_category": "table",
+        "probe_room": "dining room",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 9,
+        "num_sightings": 11,
+        "spatial_relation": "right",
+        "object_position": [
+          -2.1870501041412354,
+          -2.944000244140625,
+          6.112619400024414
+        ],
+        "agent_position_when_seen": [
+          3.503818988800049,
+          0.18682312965393066,
+          5.315531253814697
+        ],
+        "pixel_centroid_x": 199.2086956521739,
+        "normalized_position_x": 0.5563179347826086,
+        "object_pixel_count": 230,
+        "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  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        43,
+        249
+      ],
+      "metadata": {
+        "object_A_id": 43,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 249,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 43,
+        "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) hallway (C) closet",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "hallway",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "stairs",
+          "hallway",
+          "closet"
+        ],
+        "query_timestep_internal": 10,
+        "rooms_visited": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the picture to the left or right of the sofa?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        176,
+        146
+      ],
+      "metadata": {
+        "object_A_id": 176,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -2.308690071105957,
+          -2.8775298595428467,
+          2.1943297386169434
+        ],
+        "object_B_id": 146,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -0.3174639940261841,
+          1.534179925918579,
+          1.4609099626541138
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          4.740969657897949,
+          0.18682312965393066,
+          5.395555019378662
+        ],
+        "agent_rotation": [
+          -0.6928308010101318,
+          0.0,
+          -0.7211002111434937,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 9,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bathroom (B) stairs (C) bedroom",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "stairs",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "bathroom",
+          "stairs",
+          "bedroom"
+        ],
+        "context_rooms": "living room"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 1,
+    "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) closet (B) office (C) hallway",
+    "answer": "C",
+    "options": [
+      "closet",
+      "office",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_9",
+      "adjacent_rooms": [
+        "0_13",
+        "0_8"
+      ],
+      "correct_answer_room": "0_13",
+      "all_options": [
+        "closet",
+        "office",
+        "hallway"
+      ],
+      "context_rooms": "living room"
+    }
+  }
+}

test/001164/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 1164,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/e9zR4mvMWw7/e9zR4mvMWw7.glb",
+  "instruction": "InstructionData(instruction_text='exit bedroom, turn left, walk passed stairs, turn right, stop in bedroom. ', instruction_tokens=[888, 273, 2494, 1360, 2584, 1725, 2222, 2494, 1968, 2278, 1237, 273, 15])",
+  "instruction_text": "exit bedroom, turn left, walk passed stairs, turn right, stop in bedroom. ",
+  "num_steps": 57,
+  "total_unique_objects": 233,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "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": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        123
+      ],
+      "metadata": {
+        "probe_object_id": 123,
+        "probe_category": "picture",
+        "probe_room": "dining room",
+        "probe_region_id": "1_6",
+        "first_seen_timestep": 30,
+        "best_view_timestep": 30,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          12.847100257873535,
+          1.4927799701690674,
+          3.692000150680542
+        ],
+        "agent_position_when_seen": [
+          10.90209674835205,
+          2.8866939544677734,
+          0.8604065775871277
+        ],
+        "pixel_centroid_x": 228.11711711711712,
+        "normalized_position_x": 0.7821649774774775,
+        "object_pixel_count": 111,
+        "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 sofa before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        3,
+        106
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "sofa",
+        "object_A_timestep": 0,
+        "object_B_id": 106,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 3,
+        "asked_second_object_id": 106
+      }
+    },
+    {
+      "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) hallway (B) lounge (C) closet",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "lounge",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "lounge",
+          "closet"
+        ],
+        "query_timestep_internal": 40,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 26,
+      "question": "From your current viewpoint, is the objects to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        108,
+        40
+      ],
+      "metadata": {
+        "object_A_id": 108,
+        "object_A_category": "table",
+        "object_A_position": [
+          12.539999961853027,
+          0.3864908218383789,
+          5.411479949951172
+        ],
+        "object_B_id": 40,
+        "object_B_category": "objects",
+        "object_B_position": [
+          8.809849739074707,
+          2.3329997062683105,
+          3.6220903396606445
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          10.911683082580566,
+          2.8866939544677734,
+          1.3603147268295288
+        ],
+        "agent_rotation": [
+          -0.9683626294136047,
+          0.0,
+          0.24954745173454285,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 22,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) stairs (B) bedroom (C) kitchen",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_10",
+        "adjacent_rooms": [
+          "1_11",
+          "1_12",
+          "1_2",
+          "1_6",
+          "1_9"
+        ],
+        "correct_answer_room": "1_11",
+        "all_options": [
+          "stairs",
+          "bedroom",
+          "kitchen"
+        ],
+        "context_rooms": "porch/terrace/deck, garage"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "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": 5,
+        "current_room": "bedroom",
+        "landmark_room": "stairs",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 56,
+    "question": "From your current viewpoint, is the picture to the left or right of the curtain?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      372,
+      359
+    ],
+    "metadata": {
+      "object_A_id": 372,
+      "object_A_category": "curtain",
+      "object_A_position": [
+        15.88659954071045,
+        3.889399766921997,
+        2.6938602924346924
+      ],
+      "object_B_id": 359,
+      "object_B_category": "picture",
+      "object_B_position": [
+        13.481300354003906,
+        4.250689506530762,
+        5.381140232086182
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        12.431462287902832,
+        2.8866939544677734,
+        -3.0628726482391357
+      ],
+      "agent_rotation": [
+        -0.7991526126861572,
+        0.0,
+        0.601128101348877,
+        0.0
+      ]
+    }
+  }
+}

test/001214/meta.json

@@ -0,0 +1,185 @@
+{
+  "episode_id": 1214,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the room passed the wooden piano. Walk up the small steps and through the tiled room past the reception desk and out through the front door. ', instruction_tokens=[2584, 2418, 2389, 1994, 1725, 2389, 2672, 1773, 15, 2584, 2527, 2389, 2170, 2265, 119, 2418, 2389, 2430, 1994, 1728, 2389, 1929, 692, 119, 1658, 2418, 2389, 1019, 757, 15])",
+  "instruction_text": "Walk through the room passed the wooden piano. Walk up the small steps and through the tiled room past the reception desk and out through the front door. ",
+  "num_steps": 50,
+  "total_unique_objects": 302,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the sofa in the office, was it on your left side or right side?",
+      "answer": "left",
+      "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": 19,
+        "best_view_timestep": 23,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -10.079400062561035,
+          -0.28813934326171875,
+          -11.048298835754395
+        ],
+        "agent_position_when_seen": [
+          -14.561868667602539,
+          0.13779401779174805,
+          -15.011151313781738
+        ],
+        "pixel_centroid_x": 44.81512605042017,
+        "normalized_position_x": -0.6498818277310925,
+        "object_pixel_count": 119,
+        "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 shelving before or after the cabinet?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        353,
+        181
+      ],
+      "metadata": {
+        "object_A_id": 353,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 4,
+        "object_B_id": 181,
+        "object_B_category": "shelving",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 181,
+        "asked_second_object_id": 353
+      }
+    },
+    {
+      "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) kitchen (B) balcony (C) hallway",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "balcony",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "balcony",
+          "hallway"
+        ],
+        "query_timestep_internal": 38,
+        "rooms_visited": [
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 17,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) kitchen (B) living room (C) bathroom",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "living room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_4",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "kitchen",
+          "living room",
+          "bathroom"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 2,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 2,
+        "current_room": "living room",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "living room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "living room"
+        ]
+      }
+    }
+  ],
+  "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) balcony (B) living room (C) bathroom",
+    "answer": "B",
+    "options": [
+      "balcony",
+      "living room",
+      "bathroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "living room",
+      "all_options": [
+        "balcony",
+        "living room",
+        "bathroom"
+      ],
+      "query_timestep_internal": 18,
+      "rooms_visited": [
+        "hallway",
+        "living room"
+      ]
+    }
+  }
+}

test/001239/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 1239,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/EDJbREhghzL/EDJbREhghzL.glb",
+  "instruction": "InstructionData(instruction_text='Go to the end of the bed\\r\\nGo to the flowers\\r\\nGo to the glass doors\\r\\nGo to the chair\\r\\nGo to the small painting\\r\\nGo to the rug. ', instruction_tokens=[1067, 2438, 2389, 851, 1605, 2389, 267, 1067, 2438, 2389, 970, 1067, 2438, 2389, 1057, 762, 1067, 2438, 2389, 457, 1067, 2438, 2389, 2170, 1688, 1067, 2438, 2389, 2010, 15])",
+  "instruction_text": "Go to the end of the bed\r\nGo to the flowers\r\nGo to the glass doors\r\nGo to the chair\r\nGo to the small painting\r\nGo to the rug. ",
+  "num_steps": 69,
+  "total_unique_objects": 260,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 68,
+      "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": [
+        249
+      ],
+      "metadata": {
+        "probe_object_id": 249,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 6,
+        "num_sightings": 6,
+        "spatial_relation": "right",
+        "object_position": [
+          0.9196569919586182,
+          0.7521159648895264,
+          0.8430371284484863
+        ],
+        "agent_position_when_seen": [
+          0.417056143283844,
+          0.1033330038189888,
+          -0.23394396901130676
+        ],
+        "pixel_centroid_x": 199.58762440501948,
+        "normalized_position_x": 0.5592783156642147,
+        "object_pixel_count": 4622,
+        "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 plant before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        249,
+        1
+      ],
+      "metadata": {
+        "object_A_id": 249,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 1,
+        "object_B_category": "plant",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 249
+      }
+    },
+    {
+      "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) stairs (C) laundryroom/mudroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "stairs",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "stairs",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 49,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 9,
+      "question": "From your current viewpoint, is the chest_of_drawers to the left or right of the chair?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        271,
+        278
+      ],
+      "metadata": {
+        "object_A_id": 271,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -1.7427200078964233,
+          0.4652330279350281,
+          -0.7520768642425537
+        ],
+        "object_B_id": 278,
+        "object_B_category": "chest_of_drawers",
+        "object_B_position": [
+          -0.14029300212860107,
+          0.46158504486083984,
+          1.7153799533843994
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          0.1675090193748474,
+          0.1033330038189888,
+          -0.24898502230644226
+        ],
+        "agent_rotation": [
+          0.6323622465133667,
+          0.0,
+          0.7746728658676147,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "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) bathroom (C) stairs",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "bathroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_13",
+          "0_14",
+          "0_3",
+          "0_4"
+        ],
+        "correct_answer_room": "0_14",
+        "all_options": [
+          "bedroom",
+          "bathroom",
+          "stairs"
+        ],
+        "context_rooms": "hallway, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 28,
+      "question": "From your current position, will you pass through the balcony on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 28,
+        "current_room": "bedroom",
+        "landmark_room": "balcony",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 6,
+    "question": "You are currently in the bedroom, and you can see the bathroom. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) hallway (B) stairs (C) lounge",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "stairs",
+      "lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_6",
+      "adjacent_rooms": [
+        "0_13",
+        "0_7"
+      ],
+      "correct_answer_room": "0_13",
+      "all_options": [
+        "hallway",
+        "stairs",
+        "lounge"
+      ],
+      "context_rooms": "bathroom"
+    }
+  }
+}

test/001261/meta.json

@@ -0,0 +1,245 @@
+{
+  "episode_id": 1261,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the table and chairs. Turn right and walk into the large room with wood floors. Walk past the couch and turn right by the dining room table and chairs. Stop by the dining room table and chairs. ', instruction_tokens=[2584, 1728, 2389, 2342, 119, 458, 15, 2494, 1968, 119, 2584, 1264, 2389, 1336, 1994, 2661, 2668, 964, 15, 2584, 1728, 2389, 593, 119, 2494, 1968, 404, 2389, 711, 1994, 2342, 119, 458, 15, 2278, 404, 2389, 711, 1994, 2342, 119, 458, 15])",
+  "instruction_text": "Walk past the table and chairs. Turn right and walk into the large room with wood floors. Walk past the couch and turn right by the dining room table and chairs. Stop by the dining room table and chairs. ",
+  "num_steps": 78,
+  "total_unique_objects": 267,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "question": "Recall your earlier path. When you passed by the sofa in the garage, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        610
+      ],
+      "metadata": {
+        "probe_object_id": 610,
+        "probe_category": "sofa",
+        "probe_room": "garage",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 14,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -6.04971981048584,
+          0.4113807678222656,
+          -4.124199867248535
+        ],
+        "agent_position_when_seen": [
+          -11.024152755737305,
+          0.011268138885498047,
+          0.5572918057441711
+        ],
+        "pixel_centroid_x": 178.77528089887642,
+        "normalized_position_x": 0.396681882022472,
+        "object_pixel_count": 178,
+        "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 table before or after the furniture?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        13,
+        8
+      ],
+      "metadata": {
+        "object_A_id": 13,
+        "object_A_category": "furniture",
+        "object_A_timestep": 2,
+        "object_B_id": 8,
+        "object_B_category": "table",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 8,
+        "asked_second_object_id": 13
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 77,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) entryway/foyer/lobby (C) dining room",
+      "answer": "C",
+      "options": [
+        "other room",
+        "entryway/foyer/lobby",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "other room",
+          "entryway/foyer/lobby",
+          "dining room"
+        ],
+        "query_timestep_internal": 77,
+        "rooms_visited": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 15,
+      "question": "From your current viewpoint, is the chair to the left or right of the stool?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        584,
+        578
+      ],
+      "metadata": {
+        "object_A_id": 584,
+        "object_A_category": "stool",
+        "object_A_position": [
+          -8.165599822998047,
+          0.14317595958709717,
+          1.8057198524475098
+        ],
+        "object_B_id": 578,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -6.939899921417236,
+          0.24338985979557037,
+          1.66677987575531
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -10.813218116760254,
+          0.011268138885498047,
+          0.42310360074043274
+        ],
+        "agent_rotation": [
+          0.8765708208084106,
+          0.0,
+          -0.4812728762626648,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 17,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) rec/game (B) closet (C) toilet",
+      "answer": "A",
+      "options": [
+        "rec/game",
+        "closet",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_3",
+          "0_4",
+          "0_6"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "rec/game",
+          "closet",
+          "toilet"
+        ],
+        "context_rooms": "garage, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 24,
+      "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": 24,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "kitchen",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "living room",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 77,
+    "question": "Recall your earlier path. When you passed by the chair in the hallway, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      615
+    ],
+    "metadata": {
+      "probe_object_id": 615,
+      "probe_category": "chair",
+      "probe_room": "hallway",
+      "probe_region_id": "0_5",
+      "first_seen_timestep": 19,
+      "best_view_timestep": 30,
+      "num_sightings": 7,
+      "spatial_relation": "right",
+      "object_position": [
+        -1.8797999620437622,
+        0.4400172233581543,
+        -5.147870063781738
+      ],
+      "agent_position_when_seen": [
+        -9.491065979003906,
+        0.011268138885498047,
+        -0.9607502222061157
+      ],
+      "pixel_centroid_x": 181.585,
+      "normalized_position_x": 0.41863281250000006,
+      "object_pixel_count": 200,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 78
+    }
+  }
+}

test/001268/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 1268,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/pRbA3pwrgk9/pRbA3pwrgk9.glb",
+  "instruction": "InstructionData(instruction_text='Walk up the stairs to the landing, then walk up the stairs to your right. Walk straight past the room on your right. Wait at the base of the stairs. ', instruction_tokens=[2584, 2527, 2389, 2222, 2438, 2389, 1329, 2394, 2584, 2527, 2389, 2222, 2438, 2706, 1968, 15, 2584, 2288, 1728, 2389, 1994, 1613, 2706, 1968, 15, 2579, 178, 2389, 233, 1605, 2389, 2222, 15])",
+  "instruction_text": "Walk up the stairs to the landing, then walk up the stairs to your right. Walk straight past the room on your right. Wait at the base of the stairs. ",
+  "num_steps": 64,
+  "total_unique_objects": 129,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the plant in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        505
+      ],
+      "metadata": {
+        "probe_object_id": 505,
+        "probe_category": "plant",
+        "probe_room": "stairs",
+        "probe_region_id": "3_28",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 8,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          -1.6780798435211182,
+          2.9138600826263428,
+          2.185070276260376
+        ],
+        "agent_position_when_seen": [
+          -1.9520399570465088,
+          0.6883348226547241,
+          -2.5202300548553467
+        ],
+        "pixel_centroid_x": 207.36261261261262,
+        "normalized_position_x": 0.6200204110360361,
+        "object_pixel_count": 444,
+        "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 railing before or after the stairs?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        13,
+        500
+      ],
+      "metadata": {
+        "object_A_id": 13,
+        "object_A_category": "stairs",
+        "object_A_timestep": 0,
+        "object_B_id": 500,
+        "object_B_category": "railing",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 500,
+        "asked_second_object_id": 13
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 27,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) living room (C) laundryroom/mudroom",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "living room",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "living room",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 50,
+      "question": "From your current viewpoint, is the bed to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        292,
+        280
+      ],
+      "metadata": {
+        "object_A_id": 292,
+        "object_A_category": "table",
+        "object_A_position": [
+          1.5718499422073364,
+          -0.6349129676818848,
+          4.862269878387451
+        ],
+        "object_B_id": 280,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -1.2155100107192993,
+          -0.39754533767700195,
+          5.5248494148254395
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          0.08117581903934479,
+          2.8338050842285156,
+          -0.5288424491882324
+        ],
+        "agent_rotation": [
+          -0.06943616271018982,
+          0.0,
+          0.9975863695144653,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 41,
+      "question": "Based on your exploration and knowledge of the environment, which area is the closet you see now directly connected to? (A) balcony (B) bedroom (C) kitchen",
+      "answer": "B",
+      "options": [
+        "balcony",
+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_13",
+        "adjacent_rooms": [
+          "2_11",
+          "2_12",
+          "2_14",
+          "2_17",
+          "2_18",
+          "2_5",
+          "2_6"
+        ],
+        "correct_answer_room": "2_14",
+        "all_options": [
+          "balcony",
+          "bedroom",
+          "kitchen"
+        ],
+        "context_rooms": "bathroom, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 31,
+      "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": 31,
+        "current_room": "stairs",
+        "landmark_room": "closet",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 55,
+    "question": "You are currently in the hallway, and you can see the dining room, bathroom. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) living room (B) laundryroom/mudroom (C) kitchen",
+    "answer": "C",
+    "options": [
+      "living room",
+      "laundryroom/mudroom",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "3_24",
+      "adjacent_rooms": [
+        "3_22",
+        "3_23",
+        "3_25",
+        "3_28",
+        "3_8"
+      ],
+      "correct_answer_room": "3_23",
+      "all_options": [
+        "living room",
+        "laundryroom/mudroom",
+        "kitchen"
+      ],
+      "context_rooms": "dining room, bathroom"
+    }
+  }
+}

test/001296/meta.json

@@ -0,0 +1,182 @@
+{
+  "episode_id": 1296,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='turn around and go towards the door down the hall and the windows stop as soon as you hit the wine holders. ', instruction_tokens=[2494, 159, 119, 1067, 2452, 2389, 757, 780, 2389, 1121, 119, 2389, 2654, 2278, 170, 2189, 170, 2703, 1189, 2389, 2655, 1193, 15])",
+  "instruction_text": "turn around and go towards the door down the hall and the windows stop as soon as you hit the wine holders. ",
+  "num_steps": 31,
+  "total_unique_objects": 212,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 30,
+      "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": [
+        62
+      ],
+      "metadata": {
+        "probe_object_id": 62,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 19,
+        "num_sightings": 23,
+        "spatial_relation": "left",
+        "object_position": [
+          9.602840423583984,
+          0.8336238861083984,
+          8.802029609680176
+        ],
+        "agent_position_when_seen": [
+          5.019176483154297,
+          0.05631500482559204,
+          -9.016847610473633
+        ],
+        "pixel_centroid_x": 58.78542510121458,
+        "normalized_position_x": -0.5407388663967612,
+        "object_pixel_count": 247,
+        "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 mirror before or after the toilet?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        60
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "toilet",
+        "object_A_timestep": 0,
+        "object_B_id": 60,
+        "object_B_category": "mirror",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 60,
+        "asked_second_object_id": 4
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 28,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) porch/terrace/deck (C) dining room",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "porch/terrace/deck",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "bedroom",
+          "porch/terrace/deck",
+          "dining room"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "dining room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 19,
+      "question": "From your current viewpoint, is the table to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        85,
+        33
+      ],
+      "metadata": {
+        "object_A_id": 85,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          11.865099906921387,
+          1.2764101028442383,
+          4.34975004196167
+        ],
+        "object_B_id": 33,
+        "object_B_category": "table",
+        "object_B_position": [
+          -0.6654059886932373,
+          0.49593210220336914,
+          4.607699871063232
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          5.019176483154297,
+          0.05631500482559204,
+          -9.016847610473633
+        ],
+        "agent_rotation": [
+          -0.019497275352478027,
+          0.0,
+          0.999809980392456,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 30,
+    "question": "Recall your earlier path. When you passed by the bathtub in the bathroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      253
+    ],
+    "metadata": {
+      "probe_object_id": 253,
+      "probe_category": "bathtub",
+      "probe_room": "bathroom",
+      "probe_region_id": "0_13",
+      "first_seen_timestep": 4,
+      "best_view_timestep": 6,
+      "num_sightings": 8,
+      "spatial_relation": "left",
+      "object_position": [
+        12.559599876403809,
+        0.1267566680908203,
+        -9.295060157775879
+      ],
+      "agent_position_when_seen": [
+        4.783316612243652,
+        0.05631500482559204,
+        -11.742690086364746
+      ],
+      "pixel_centroid_x": 46.25339366515837,
+      "normalized_position_x": -0.6386453619909502,
+      "object_pixel_count": 221,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 31
+    }
+  }
+}

test/001315/meta.json

@@ -0,0 +1,201 @@
+{
+  "episode_id": 1315,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb",
+  "instruction": "InstructionData(instruction_text='Go stand on the blue dot in the hallway. ', instruction_tokens=[1067, 2235, 1613, 2389, 324, 772, 1237, 2389, 1126, 15])",
+  "instruction_text": "Go stand on the blue dot in the hallway. ",
+  "num_steps": 64,
+  "total_unique_objects": 166,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        514
+      ],
+      "metadata": {
+        "probe_object_id": 514,
+        "probe_category": "tv_monitor",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "1_21",
+        "first_seen_timestep": 25,
+        "best_view_timestep": 41,
+        "num_sightings": 26,
+        "spatial_relation": "left",
+        "object_position": [
+          15.944799423217773,
+          0.8085191249847412,
+          -2.8170695304870605
+        ],
+        "agent_position_when_seen": [
+          9.60494613647461,
+          -5.955618858337402,
+          -1.2164859771728516
+        ],
+        "pixel_centroid_x": 37.24818181818182,
+        "normalized_position_x": -0.7089985795454545,
+        "object_pixel_count": 1100,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 63,
+      "question": "Along your path, did you see the curtain before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        378,
+        484
+      ],
+      "metadata": {
+        "object_A_id": 378,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 484,
+        "object_B_category": "curtain",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 484,
+        "asked_second_object_id": 378
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 63,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) entryway/foyer/lobby (C) meetingroom/conferenceroom",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "entryway/foyer/lobby",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "meetingroom/conferenceroom",
+        "all_options": [
+          "stairs",
+          "entryway/foyer/lobby",
+          "meetingroom/conferenceroom"
+        ],
+        "query_timestep_internal": 63,
+        "rooms_visited": [
+          "hallway",
+          "meetingroom/conferenceroom",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 33,
+      "question": "From your current viewpoint, is the curtain to the left or right of the picture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        469,
+        472
+      ],
+      "metadata": {
+        "object_A_id": 469,
+        "object_A_category": "picture",
+        "object_A_position": [
+          10.044699668884277,
+          2.5128798484802246,
+          -6.10837984085083
+        ],
+        "object_B_id": 472,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          14.523500442504883,
+          1.9388694763183594,
+          -6.174300193786621
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          7.993396759033203,
+          -5.955618858337402,
+          -2.4009265899658203
+        ],
+        "agent_rotation": [
+          0.451541543006897,
+          0.0,
+          -0.8922500610351562,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 28,
+      "question": "Based on your exploration and knowledge of the environment, which area is the lounge you see now directly connected to? (A) other room (B) hallway (C) bedroom",
+      "answer": "B",
+      "options": [
+        "other room",
+        "hallway",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_22",
+        "adjacent_rooms": [
+          "1_23"
+        ],
+        "correct_answer_room": "1_23",
+        "all_options": [
+          "other room",
+          "hallway",
+          "bedroom"
+        ],
+        "context_rooms": ""
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 16,
+    "question": "From your current position, will you pass through the other room on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 16,
+      "current_room": "hallway",
+      "landmark_room": "other room",
+      "final_room": "meetingroom/conferenceroom",
+      "remaining_rooms": [
+        "hallway",
+        "meetingroom/conferenceroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "meetingroom/conferenceroom",
+        "other room"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "visited_but_not_ahead",
+      "passed_rooms": [
+        "hallway",
+        "other room"
+      ]
+    }
+  }
+}

test/001321/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 1321,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the table, turn left in front of the table, go straight, walk past the desk, turn left and stop near the hammock. ', instruction_tokens=[2584, 2452, 2389, 2342, 2494, 1360, 1237, 1019, 1605, 2389, 2342, 1067, 2288, 2584, 1728, 2389, 692, 2494, 1360, 119, 2278, 1563, 2389, 1132, 15])",
+  "instruction_text": "Walk towards the table, turn left in front of the table, go straight, walk past the desk, turn left and stop near the hammock. ",
+  "num_steps": 69,
+  "total_unique_objects": 225,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 68,
+      "question": "Recall your earlier path. When you passed by the railing in the lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        244
+      ],
+      "metadata": {
+        "probe_object_id": 244,
+        "probe_category": "railing",
+        "probe_room": "lounge",
+        "probe_region_id": "1_10",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 31,
+        "num_sightings": 26,
+        "spatial_relation": "left",
+        "object_position": [
+          19.03059959411621,
+          3.5092406272888184,
+          -2.585739850997925
+        ],
+        "agent_position_when_seen": [
+          13.457906723022461,
+          0.09357202053070068,
+          -3.163472890853882
+        ],
+        "pixel_centroid_x": 92.78502415458937,
+        "normalized_position_x": -0.2751169987922706,
+        "object_pixel_count": 414,
+        "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 chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        11,
+        229
+      ],
+      "metadata": {
+        "object_A_id": 11,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 229,
+        "object_B_category": "chair",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 11,
+        "asked_second_object_id": 229
+      }
+    },
+    {
+      "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) meetingroom/conferenceroom (B) hallway (C) rec/game",
+      "answer": "B",
+      "options": [
+        "meetingroom/conferenceroom",
+        "hallway",
+        "rec/game"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "meetingroom/conferenceroom",
+          "hallway",
+          "rec/game"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "hallway",
+          "lounge",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 18,
+      "question": "From your current viewpoint, is the objects to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        312,
+        349
+      ],
+      "metadata": {
+        "object_A_id": 312,
+        "object_A_category": "table",
+        "object_A_position": [
+          15.885799407958984,
+          0.5538729429244995,
+          -1.9050297737121582
+        ],
+        "object_B_id": 349,
+        "object_B_category": "objects",
+        "object_B_position": [
+          15.423100471496582,
+          0.44197893142700195,
+          4.139989852905273
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          11.024888038635254,
+          0.09357202053070068,
+          -3.703913688659668
+        ],
+        "agent_rotation": [
+          0.5296529531478882,
+          0.0,
+          -0.8482143878936768,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 50,
+      "question": "Based on your exploration and knowledge of the environment, which area is the lounge you see now directly connected to? (A) rec/game (B) hallway (C) meetingroom/conferenceroom",
+      "answer": "C",
+      "options": [
+        "rec/game",
+        "hallway",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_13",
+        "adjacent_rooms": [
+          "1_10",
+          "1_3"
+        ],
+        "correct_answer_room": "1_3",
+        "all_options": [
+          "rec/game",
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "context_rooms": "lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "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": 9,
+        "current_room": "hallway",
+        "landmark_room": "office",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "hallway",
+          "office",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "lounge",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 66,
+    "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) lounge (C) hallway",
+    "answer": "B",
+    "options": [
+      "porch/terrace/deck",
+      "lounge",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_10",
+      "adjacent_rooms": [
+        "1_13",
+        "1_14"
+      ],
+      "correct_answer_room": "1_13",
+      "all_options": [
+        "porch/terrace/deck",
+        "lounge",
+        "hallway"
+      ],
+      "context_rooms": "office"
+    }
+  }
+}

test/001345/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 1345,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VFuaQ6m2Qom/VFuaQ6m2Qom.glb",
+  "instruction": "InstructionData(instruction_text='Walk to the last bar chair on the left. Make a slight left and walk into the smaller room. Walk around the bar with the grey chairs. Make a left into the thin grey hallway. ', instruction_tokens=[2584, 2438, 2389, 1339, 217, 457, 1613, 2389, 1360, 15, 1446, 73, 2162, 1360, 119, 2584, 1264, 2389, 2171, 1994, 15, 2584, 159, 2389, 217, 2661, 2389, 1101, 458, 15, 1446, 73, 1360, 1264, 2389, 2401, 1101, 1126, 15])",
+  "instruction_text": "Walk to the last bar chair on the left. Make a slight left and walk into the smaller room. Walk around the bar with the grey chairs. Make a left into the thin grey hallway. ",
+  "num_steps": 83,
+  "total_unique_objects": 409,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 82,
+      "question": "Recall your earlier path. When you passed by the chair in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        155
+      ],
+      "metadata": {
+        "probe_object_id": 155,
+        "probe_category": "chair",
+        "probe_room": "hallway",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 56,
+        "best_view_timestep": 57,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          -5.725910186767578,
+          0.34459996223449707,
+          1.2446199655532837
+        ],
+        "agent_position_when_seen": [
+          -3.2486393451690674,
+          0.05781888961791992,
+          -8.240860939025879
+        ],
+        "pixel_centroid_x": 14.53956834532374,
+        "normalized_position_x": -0.8864096223021583,
+        "object_pixel_count": 139,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 83
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 82,
+      "question": "Along your path, did you see the railing before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        32,
+        83
+      ],
+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 83,
+        "object_B_category": "railing",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 83,
+        "asked_second_object_id": 32
+      }
+    },
+    {
+      "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) lounge (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "lounge",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "living room",
+          "lounge",
+          "hallway"
+        ],
+        "query_timestep_internal": 40,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 69,
+      "question": "From your current viewpoint, is the  to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        456,
+        32
+      ],
+      "metadata": {
+        "object_A_id": 456,
+        "object_A_category": "picture",
+        "object_A_position": [
+          -10.149700164794922,
+          6.133440017700195,
+          4.274099349975586
+        ],
+        "object_B_id": 32,
+        "object_B_category": "",
+        "object_B_position": [
+          -8.186840057373047,
+          1.8781509399414062,
+          -10.746498107910156
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -5.633299350738525,
+          0.05781888961791992,
+          -7.780738353729248
+        ],
+        "agent_rotation": [
+          -0.6944157481193542,
+          0.0,
+          -0.7195740342140198,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 59,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) dining room (B) kitchen (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "kitchen",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_2",
+          "0_4"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "dining room",
+          "kitchen",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "kitchen",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "kitchen",
+          "familyroom/lounge",
+          "hallway",
+          "familyroom/lounge",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 18,
+    "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": 18,
+      "current_room": "kitchen",
+      "landmark_room": "bathroom",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "kitchen",
+        "familyroom/lounge",
+        "hallway",
+        "familyroom/lounge",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "familyroom/lounge",
+        "hallway",
+        "kitchen"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

test/001402/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 1402,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb",
+  "instruction": "InstructionData(instruction_text='Start walking towards the living room and once under the staircase turn right. Enter the hallway and wait in front of the painting on the wall. ', instruction_tokens=[2245, 2588, 2452, 2389, 1404, 1994, 119, 1615, 2517, 2389, 2220, 2494, 1968, 15, 860, 2389, 1126, 119, 2579, 1237, 1019, 1605, 2389, 1688, 1613, 2389, 2593, 15])",
+  "instruction_text": "Start walking towards the living room and once under the staircase turn right. Enter the hallway and wait in front of the painting on the wall. ",
+  "num_steps": 74,
+  "total_unique_objects": 200,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "question": "Recall your earlier path. When you passed by the sink in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        431
+      ],
+      "metadata": {
+        "probe_object_id": 431,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_24",
+        "first_seen_timestep": 17,
+        "best_view_timestep": 66,
+        "num_sightings": 16,
+        "spatial_relation": "right",
+        "object_position": [
+          5.292369842529297,
+          -0.7920007705688477,
+          -2.7368297576904297
+        ],
+        "agent_position_when_seen": [
+          2.5814573764801025,
+          -1.0843499898910522,
+          3.607301712036133
+        ],
+        "pixel_centroid_x": 244.48657718120805,
+        "normalized_position_x": 0.9100513842281879,
+        "object_pixel_count": 298,
+        "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 toilet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        19,
+        37
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 37,
+        "object_B_category": "toilet",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 19,
+        "asked_second_object_id": 37
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 31,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) dining room (C) closet",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "dining room",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "familyroom/lounge",
+          "dining room",
+          "closet"
+        ],
+        "query_timestep_internal": 31,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 67,
+      "question": "From your current viewpoint, is the shelving to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        440,
+        437
+      ],
+      "metadata": {
+        "object_A_id": 440,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          4.115349769592285,
+          -0.05468571186065674,
+          -0.5170339941978455
+        ],
+        "object_B_id": 437,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          3.51104998588562,
+          -0.03403663635253906,
+          -0.09105706214904785
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          2.5814573764801025,
+          -1.0843499898910522,
+          3.607301712036133
+        ],
+        "agent_rotation": [
+          -0.9994525909423828,
+          0.0,
+          -0.03308500349521637,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 22,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) hallway (B) toilet (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "toilet",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_27"
+        ],
+        "correct_answer_room": "0_27",
+        "all_options": [
+          "hallway",
+          "toilet",
+          "kitchen"
+        ],
+        "context_rooms": ""
+      }
+    },
+    {
+      "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": "kitchen",
+        "landmark_room": "living room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "kitchen",
+          "dining room",
+          "living room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 23,
+    "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": 23,
+      "current_room": "dining room",
+      "landmark_room": "living room",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "dining room",
+        "living room",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "dining room",
+        "hallway",
+        "kitchen",
+        "living room"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "dining room",
+        "kitchen"
+      ]
+    }
+  }
+}

test/001442/meta.json

@@ -0,0 +1,248 @@
+{
+  "episode_id": 1442,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/e9zR4mvMWw7/e9zR4mvMWw7.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight past the dining area until you reach a sofa.  Turn left and go outside. ', instruction_tokens=[2584, 2288, 1728, 2389, 711, 150, 2524, 2703, 1920, 73, 2182, 15, 2494, 1360, 119, 1067, 1665, 15])",
+  "instruction_text": "Walk straight past the dining area until you reach a sofa.  Turn left and go outside. ",
+  "num_steps": 51,
+  "total_unique_objects": 229,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "question": "Recall your earlier path. When you passed by the shelving in the garage, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        48
+      ],
+      "metadata": {
+        "probe_object_id": 48,
+        "probe_category": "shelving",
+        "probe_room": "garage",
+        "probe_region_id": "1_2",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 3,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
+          9.61497974395752,
+          1.264439582824707,
+          3.5655198097229004
+        ],
+        "agent_position_when_seen": [
+          11.151000022888184,
+          0.08669400215148926,
+          3.1372499465942383
+        ],
+        "pixel_centroid_x": 33.274177949709866,
+        "normalized_position_x": -0.7400454847678917,
+        "object_pixel_count": 2068,
+        "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 sofa before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        24,
+        53
+      ],
+      "metadata": {
+        "object_A_id": 24,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 53,
+        "object_B_category": "sofa",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 53,
+        "asked_second_object_id": 24
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 39,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) living room (C) kitchen",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "living room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "familyroom/lounge",
+          "living room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 3,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        48,
+        166
+      ],
+      "metadata": {
+        "object_A_id": 48,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          9.61497974395752,
+          1.264439582824707,
+          3.5655198097229004
+        ],
+        "object_B_id": 166,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          15.042499542236328,
+          0.42656099796295166,
+          -1.2197399139404297
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          11.151000022888184,
+          0.08669400215148926,
+          3.1372499465942383
+        ],
+        "agent_rotation": [
+          -0.9987845420837402,
+          0.0,
+          0.049290142953395844,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 12,
+      "question": "You are currently in the dining room, and you can see the entryway/foyer/lobby, stairs. Based on your understanding of the environment layout, which other area is the dining room directly connected to? (A) bedroom (B) hallway (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "hallway",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_6",
+        "adjacent_rooms": [
+          "1_10",
+          "1_11",
+          "1_2",
+          "1_3",
+          "1_4",
+          "1_5",
+          "1_7",
+          "1_8"
+        ],
+        "correct_answer_room": "1_7",
+        "all_options": [
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "entryway/foyer/lobby, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "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": 14,
+        "current_room": "dining room",
+        "landmark_room": "living room",
+        "final_room": "porch/terrace/deck",
+        "remaining_rooms": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 50,
+    "question": "Recall your earlier path. When you passed by the stairs in the garage, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      38
+    ],
+    "metadata": {
+      "probe_object_id": 38,
+      "probe_category": "stairs",
+      "probe_room": "garage",
+      "probe_region_id": "1_2",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 2,
+      "num_sightings": 4,
+      "spatial_relation": "left",
+      "object_position": [
+        9.683059692382812,
+        -0.3668959140777588,
+        1.0000100135803223
+      ],
+      "agent_position_when_seen": [
+        11.151000022888184,
+        0.08669400215148926,
+        3.1372499465942383
+      ],
+      "pixel_centroid_x": 37.60953920776071,
+      "normalized_position_x": -0.7061754749393694,
+      "object_pixel_count": 1237,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 51
+    }
+  }
+}

test/001528/meta.json

@@ -0,0 +1,175 @@
+{
+  "episode_id": 1528,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Go towards the glass walled area and through the doors. Go towards the row of lounge chairs, Go through the door to the left of the chairs and wait. ', instruction_tokens=[1067, 2452, 2389, 1057, 2595, 150, 119, 2418, 2389, 762, 15, 1067, 2452, 2389, 2008, 1605, 1425, 458, 1067, 2418, 2389, 757, 2438, 2389, 1360, 1605, 2389, 458, 119, 2579, 15])",
+  "instruction_text": "Go towards the glass walled area and through the doors. Go towards the row of lounge chairs, Go through the door to the left of the chairs and wait. ",
+  "num_steps": 68,
+  "total_unique_objects": 66,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 67,
+      "question": "Recall your earlier path. When you passed by the bed in the spa/sauna, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        283
+      ],
+      "metadata": {
+        "probe_object_id": 283,
+        "probe_category": "bed",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_13",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 10,
+        "num_sightings": 11,
+        "spatial_relation": "right",
+        "object_position": [
+          -0.34112799167633057,
+          1.047719955444336,
+          -1.096889853477478
+        ],
+        "agent_position_when_seen": [
+          -7.77223014831543,
+          0.12697899341583252,
+          -19.969240188598633
+        ],
+        "pixel_centroid_x": 242.8698224852071,
+        "normalized_position_x": 0.8974204881656804,
+        "object_pixel_count": 169,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 68
+      }
+    },
+    {
+      "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) spa/sauna (B) stairs (C) bathroom",
+      "answer": "A",
+      "options": [
+        "spa/sauna",
+        "stairs",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "spa/sauna",
+        "all_options": [
+          "spa/sauna",
+          "stairs",
+          "bathroom"
+        ],
+        "query_timestep_internal": 66,
+        "rooms_visited": [
+          "hallway",
+          "other room",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 22,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) spa/sauna (B) office (C) other room",
+      "answer": "A",
+      "options": [
+        "spa/sauna",
+        "office",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_14",
+        "adjacent_rooms": [
+          "0_11",
+          "0_13",
+          "0_15"
+        ],
+        "correct_answer_room": "0_13",
+        "all_options": [
+          "spa/sauna",
+          "office",
+          "other room"
+        ],
+        "context_rooms": "hallway, spa/sauna"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "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": 10,
+        "current_room": "hallway",
+        "landmark_room": "other room",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "hallway",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "other room",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "other room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 67,
+    "question": "Recall your earlier path. When you passed by the bathtub in the spa/sauna, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      525
+    ],
+    "metadata": {
+      "probe_object_id": 525,
+      "probe_category": "bathtub",
+      "probe_room": "spa/sauna",
+      "probe_region_id": "0_27",
+      "first_seen_timestep": 5,
+      "best_view_timestep": 5,
+      "num_sightings": 5,
+      "spatial_relation": "right",
+      "object_position": [
+        -1.8780999183654785,
+        0.5712087154388428,
+        2.4695098400115967
+      ],
+      "agent_position_when_seen": [
+        -8.658659934997559,
+        0.12697899341583252,
+        -20.432100296020508
+      ],
+      "pixel_centroid_x": 248.99245283018868,
+      "normalized_position_x": 0.9452535377358491,
+      "object_pixel_count": 265,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 68
+    }
+  }
+}

test/001532/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 1532,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VzqfbhrpDEA/VzqfbhrpDEA.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom, make a hard left and then make another hard left. Walk straight all the way down the hallway until you see a picture portrait of a girl with a basketball. Make a hard right into the bedroom and wait there. ', instruction_tokens=[888, 2389, 242, 1446, 73, 1152, 1360, 119, 2394, 1446, 126, 1152, 1360, 15, 2584, 2288, 104, 2389, 2616, 780, 2389, 1126, 2524, 2703, 2059, 73, 1776, 1854, 1605, 73, 1055, 2661, 73, 237, 15, 1446, 73, 1152, 1968, 1264, 2389, 273, 119, 2579, 2395, 15])",
+  "instruction_text": "Exit the bathroom, make a hard left and then make another hard left. Walk straight all the way down the hallway until you see a picture portrait of a girl with a basketball. Make a hard right into the bedroom and wait there. ",
+  "num_steps": 77,
+  "total_unique_objects": 325,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 76,
+      "question": "Recall your earlier path. When you passed by the bathtub in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        99
+      ],
+      "metadata": {
+        "probe_object_id": 99,
+        "probe_category": "bathtub",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 44,
+        "best_view_timestep": 47,
+        "num_sightings": 9,
+        "spatial_relation": "left",
+        "object_position": [
+          -29.246400833129883,
+          0.33371198177337646,
+          0.030757665634155273
+        ],
+        "agent_position_when_seen": [
+          -21.904579162597656,
+          0.09100902080535889,
+          -7.24952507019043
+        ],
+        "pixel_centroid_x": 14.568402471315093,
+        "normalized_position_x": -0.8861843556928508,
+        "object_pixel_count": 1133,
+        "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 cabinet before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        60,
+        1062
+      ],
+      "metadata": {
+        "object_A_id": 60,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 1062,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 9,
+        "time_gap": 9,
+        "asked_first_object_id": 1062,
+        "asked_second_object_id": 60
+      }
+    },
+    {
+      "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) other room (B) office (C) hallway",
+      "answer": "C",
+      "options": [
+        "other room",
+        "office",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "office",
+          "hallway"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 50,
+      "question": "From your current viewpoint, is the shelving to the left or right of the shower?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        123,
+        175
+      ],
+      "metadata": {
+        "object_A_id": 123,
+        "object_A_category": "shower",
+        "object_A_position": [
+          -31.81329917907715,
+          1.757659912109375,
+          0.056085824966430664
+        ],
+        "object_B_id": 175,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          -32.994300842285156,
+          1.3634400367736816,
+          -4.329520225524902
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -22.403823852539062,
+          0.09100902080535889,
+          -7.222040176391602
+        ],
+        "agent_rotation": [
+          0.7763156294822693,
+          0.0,
+          0.6303445100784302,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 16,
+      "question": "Based on your exploration and knowledge of the environment, which area is the garage you see now directly connected to? (A) entryway/foyer/lobby (B) rec/game (C) laundryroom/mudroom",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "rec/game",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_22",
+          "0_23",
+          "0_24",
+          "0_29"
+        ],
+        "correct_answer_room": "0_23",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "rec/game",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "hallway, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "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": 25,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) hallway (B) familyroom/lounge (C) workout/gym/exercise",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "familyroom/lounge",
+      "workout/gym/exercise"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_31",
+      "adjacent_rooms": [
+        "1_30",
+        "1_32",
+        "1_33",
+        "1_34",
+        "1_35",
+        "1_36",
+        "1_37",
+        "1_38",
+        "1_39",
+        "1_45"
+      ],
+      "correct_answer_room": "1_45",
+      "all_options": [
+        "hallway",
+        "familyroom/lounge",
+        "workout/gym/exercise"
+      ],
+      "context_rooms": "tv, bathroom"
+    }
+  }
+}

test/001539/meta.json

@@ -0,0 +1,125 @@
+{
+  "episode_id": 1539,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/gTV8FGcVJC9/gTV8FGcVJC9.glb",
+  "instruction": "InstructionData(instruction_text='Go down the stairs, turn left, go down the stairs, turn right, walk to the doorway to the living room, turn right, wait at the top of the stairs. ', instruction_tokens=[1067, 780, 2389, 2222, 2494, 1360, 1067, 780, 2389, 2222, 2494, 1968, 2584, 2438, 2389, 766, 2438, 2389, 1404, 1994, 2494, 1968, 2579, 178, 2389, 2444, 1605, 2389, 2222, 15])",
+  "instruction_text": "Go down the stairs, turn left, go down the stairs, turn right, walk to the doorway to the living room, turn right, wait at the top of the stairs. ",
+  "num_steps": 61,
+  "total_unique_objects": 289,
+  "mindcraft_queries": [
+    {
+      "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) stairs (B) toilet (C) living room",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "toilet",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "toilet",
+          "living room"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 58,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) entryway/foyer/lobby (B) lounge (C) living room",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "lounge",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_24",
+        "adjacent_rooms": [
+          "1_15",
+          "1_16",
+          "1_17",
+          "1_7",
+          "1_8"
+        ],
+        "correct_answer_room": "1_17",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "lounge",
+          "living room"
+        ],
+        "context_rooms": "stairs, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "hallway",
+        "landmark_room": "lounge",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "stairs",
+          "hallway",
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) familyroom/lounge (B) dining room (C) toilet",
+    "answer": "A",
+    "options": [
+      "familyroom/lounge",
+      "dining room",
+      "toilet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "familyroom/lounge",
+      "all_options": [
+        "familyroom/lounge",
+        "dining room",
+        "toilet"
+      ],
+      "query_timestep_internal": 55,
+      "rooms_visited": [
+        "familyroom/lounge",
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

test/001549/meta.json

@@ -0,0 +1,169 @@
+{
+  "episode_id": 1549,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the doorway, and take a left. Walk all the way down the hallway, till you reach another hallway on the right. Walk until you reach another hallway on your right, and stop immediatly once you hit the hallway. ', instruction_tokens=[2584, 2418, 2389, 766, 119, 2352, 73, 1360, 15, 2584, 104, 2389, 2616, 780, 2389, 1126, 2433, 2703, 1920, 126, 1126, 1613, 2389, 1968, 15, 2584, 2524, 2703, 1920, 126, 1126, 1613, 2706, 1968, 119, 2278, 1235, 1615, 2703, 1189, 2389, 1126, 15])",
+  "instruction_text": "Walk through the doorway, and take a left. Walk all the way down the hallway, till you reach another hallway on the right. Walk until you reach another hallway on your right, and stop immediatly once you hit the hallway. ",
+  "num_steps": 77,
+  "total_unique_objects": 573,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 76,
+      "question": "Recall your earlier path. When you passed by the curtain in the office, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        472
+      ],
+      "metadata": {
+        "probe_object_id": 472,
+        "probe_category": "curtain",
+        "probe_room": "office",
+        "probe_region_id": "0_11",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 3,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          23.94700050354004,
+          1.344538688659668,
+          14.328699111938477
+        ],
+        "agent_position_when_seen": [
+          38.377201080322266,
+          0.08020400255918503,
+          16.936800003051758
+        ],
+        "pixel_centroid_x": 225.59285714285716,
+        "normalized_position_x": 0.7624441964285715,
+        "object_pixel_count": 140,
+        "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 lighting before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        10,
+        63
+      ],
+      "metadata": {
+        "object_A_id": 10,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 63,
+        "object_B_category": "lighting",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 63,
+        "asked_second_object_id": 10
+      }
+    },
+    {
+      "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) library (B) hallway (C) classroom",
+      "answer": "B",
+      "options": [
+        "library",
+        "hallway",
+        "classroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "library",
+          "hallway",
+          "classroom"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 0,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining booth you see now directly connected to? (A) other room (B) meetingroom/conferenceroom (C) hallway",
+      "answer": "B",
+      "options": [
+        "other room",
+        "meetingroom/conferenceroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_28",
+        "adjacent_rooms": [
+          "0_14",
+          "0_24",
+          "0_27",
+          "0_29"
+        ],
+        "correct_answer_room": "0_14",
+        "all_options": [
+          "other room",
+          "meetingroom/conferenceroom",
+          "hallway"
+        ],
+        "context_rooms": "library, dining booth"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 76,
+    "question": "Recall your earlier path. When you passed by the curtain in the office, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      472
+    ],
+    "metadata": {
+      "probe_object_id": 472,
+      "probe_category": "curtain",
+      "probe_room": "office",
+      "probe_region_id": "0_11",
+      "first_seen_timestep": 3,
+      "best_view_timestep": 3,
+      "num_sightings": 1,
+      "spatial_relation": "right",
+      "object_position": [
+        23.94700050354004,
+        1.344538688659668,
+        14.328699111938477
+      ],
+      "agent_position_when_seen": [
+        38.377201080322266,
+        0.08020400255918503,
+        16.936800003051758
+      ],
+      "pixel_centroid_x": 225.59285714285716,
+      "normalized_position_x": 0.7624441964285715,
+      "object_pixel_count": 140,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 77
+    }
+  }
+}

test/001678/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 1678,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/s8pcmisQ38h/s8pcmisQ38h.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the door and out of the attic bedroom. Turn right and walk down the small corridor to a living room with a glass coffee table.Walk past the coffee table and down the long corridor which has a settee to the left before entering the corridor. Wait in the corridor at the first doors you come to, with open doors on both the left and the right. ', instruction_tokens=[2584, 2418, 2389, 757, 119, 1658, 1605, 2389, 183, 273, 15, 2494, 1968, 119, 2584, 780, 2389, 2170, 591, 2438, 73, 1404, 1994, 2661, 73, 1057, 534, 2342, 15, 2584, 1728, 2389, 534, 2342, 119, 780, 2389, 1418, 591, 2634, 1156, 73, 2077, 2438, 2389, 1360, 281, 863, 2389, 591, 15, 2579, 1237, 2389, 591, 178, 2389, 946, 762, 2703, 544, 2438, 2661, 1625, 762, 1613, 345, 2389, 1360, 119, 2389, 1968, 15])",
+  "instruction_text": "Walk through the door and out of the attic bedroom. Turn right and walk down the small corridor to a living room with a glass coffee table.Walk past the coffee table and down the long corridor which has a settee to the left before entering the corridor. Wait in the corridor at the first doors you come to, with open doors on both the left and the right. ",
+  "num_steps": 70,
+  "total_unique_objects": 110,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 69,
+      "question": "Recall your earlier path. When you passed by the shelving in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        60
+      ],
+      "metadata": {
+        "probe_object_id": 60,
+        "probe_category": "shelving",
+        "probe_room": "kitchen",
+        "probe_region_id": "1_3",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 20,
+        "num_sightings": 13,
+        "spatial_relation": "right",
+        "object_position": [
+          13.999699592590332,
+          1.532619595527649,
+          3.3067798614501953
+        ],
+        "agent_position_when_seen": [
+          14.497879028320312,
+          3.0383260250091553,
+          -0.0006883144378662109
+        ],
+        "pixel_centroid_x": 223.10588235294117,
+        "normalized_position_x": 0.7430147058823529,
+        "object_pixel_count": 2550,
+        "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 seating before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        13,
+        18
+      ],
+      "metadata": {
+        "object_A_id": 13,
+        "object_A_category": "seating",
+        "object_A_timestep": 0,
+        "object_B_id": 18,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 13,
+        "asked_second_object_id": 18
+      }
+    },
+    {
+      "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) stairs (B) lounge (C) bathroom",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "lounge",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "stairs",
+          "lounge",
+          "bathroom"
+        ],
+        "query_timestep_internal": 40,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 12,
+      "question": "From your current viewpoint, is the stairs to the left or right of the seating?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        13,
+        238
+      ],
+      "metadata": {
+        "object_A_id": 13,
+        "object_A_category": "seating",
+        "object_A_position": [
+          12.939599990844727,
+          -2.4725899696350098,
+          3.159879446029663
+        ],
+        "object_B_id": 238,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          6.833360195159912,
+          -1.6641101837158203,
+          2.6595396995544434
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          15.717794418334961,
+          3.0383260250091553,
+          -0.23999804258346558
+        ],
+        "agent_rotation": [
+          -0.5069200396537781,
+          0.0,
+          -0.861993134021759,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 67,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) hallway (B) entryway/foyer/lobby (C) living room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_7",
+        "adjacent_rooms": [
+          "2_13",
+          "2_2",
+          "2_6"
+        ],
+        "correct_answer_room": "2_13",
+        "all_options": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "living room"
+        ],
+        "context_rooms": "stairs, lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 22,
+      "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": 22,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "lounge",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 69,
+    "question": "Recall your earlier path. When you passed by the stairs in the kitchen, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      68
+    ],
+    "metadata": {
+      "probe_object_id": 68,
+      "probe_category": "stairs",
+      "probe_room": "kitchen",
+      "probe_region_id": "1_3",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 0,
+      "num_sightings": 1,
+      "spatial_relation": "right",
+      "object_position": [
+        12.335700035095215,
+        1.4907200336456299,
+        -1.211210012435913
+      ],
+      "agent_position_when_seen": [
+        16.20490074157715,
+        3.0383260250091553,
+        -1.1024500131607056
+      ],
+      "pixel_centroid_x": 155.74074074074073,
+      "normalized_position_x": 0.21672453703703698,
+      "object_pixel_count": 108,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 70
+    }
+  }
+}

test/001683/meta.json

@@ -0,0 +1,197 @@
+{
+  "episode_id": 1683,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
+  "instruction": "InstructionData(instruction_text='Walk rightward around the kitchen and walk through the door. Keep walking straight down some steps and wait just before the door. ', instruction_tokens=[2584, 1973, 159, 2389, 1306, 119, 2584, 2418, 2389, 757, 15, 1295, 2588, 2288, 780, 2187, 2265, 119, 2579, 1293, 281, 2389, 757, 15])",
+  "instruction_text": "Walk rightward around the kitchen and walk through the door. Keep walking straight down some steps and wait just before the door. ",
+  "num_steps": 68,
+  "total_unique_objects": 176,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 67,
+      "question": "Recall your earlier path. When you passed by the shower in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        156
+      ],
+      "metadata": {
+        "probe_object_id": 156,
+        "probe_category": "shower",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_1",
+        "first_seen_timestep": 15,
+        "best_view_timestep": 37,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          0.5890489816665649,
+          1.4124293327331543,
+          7.571819305419922
+        ],
+        "agent_position_when_seen": [
+          5.817571640014648,
+          0.13123798370361328,
+          17.47854232788086
+        ],
+        "pixel_centroid_x": 224.58490566037736,
+        "normalized_position_x": 0.7545695754716981,
+        "object_pixel_count": 106,
+        "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 mirror before or after the towel?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        154,
+        173
+      ],
+      "metadata": {
+        "object_A_id": 154,
+        "object_A_category": "mirror",
+        "object_A_timestep": 15,
+        "object_B_id": 173,
+        "object_B_category": "towel",
+        "object_B_timestep": 21,
+        "time_gap": 6,
+        "asked_first_object_id": 154,
+        "asked_second_object_id": 173
+      }
+    },
+    {
+      "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) toilet (B) entryway/foyer/lobby (C) hallway",
+      "answer": "B",
+      "options": [
+        "toilet",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "toilet",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "query_timestep_internal": 55,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 28,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) stairs (B) toilet (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "toilet",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_21",
+          "0_28"
+        ],
+        "correct_answer_room": "0_28",
+        "all_options": [
+          "stairs",
+          "toilet",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "other room"
+      }
+    },
+    {
+      "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": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 5,
+        "current_room": "kitchen",
+        "landmark_room": "hallway",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "kitchen",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 67,
+    "question": "Recall your earlier path. When you passed by the sofa in the tv, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      566
+    ],
+    "metadata": {
+      "probe_object_id": 566,
+      "probe_category": "sofa",
+      "probe_room": "tv",
+      "probe_region_id": "0_18",
+      "first_seen_timestep": 28,
+      "best_view_timestep": 37,
+      "num_sightings": 10,
+      "spatial_relation": "right",
+      "object_position": [
+        1.9159700870513916,
+        -3.1405200958251953,
+        -1.5950398445129395
+      ],
+      "agent_position_when_seen": [
+        5.817571640014648,
+        0.13123798370361328,
+        17.47854232788086
+      ],
+      "pixel_centroid_x": 234.41780821917808,
+      "normalized_position_x": 0.8313891267123288,
+      "object_pixel_count": 146,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 68
+    }
+  }
+}

test/001717/meta.json

@@ -0,0 +1,250 @@
+{
+  "episode_id": 1717,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb",
+  "instruction": "InstructionData(instruction_text='Walk around the staircase and then go through the hallway on the right and turn left at the first door. Then wait next to the bathroom. ', instruction_tokens=[2584, 159, 2389, 2220, 119, 2394, 1067, 2418, 2389, 1126, 1613, 2389, 1968, 119, 2494, 1360, 178, 2389, 946, 757, 15, 2394, 2579, 1576, 2438, 2389, 242, 15])",
+  "instruction_text": "Walk around the staircase and then go through the hallway on the right and turn left at the first door. Then wait next to the bathroom. ",
+  "num_steps": 65,
+  "total_unique_objects": 287,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 64,
+      "question": "Recall your earlier path. When you passed by the objects in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        956
+      ],
+      "metadata": {
+        "probe_object_id": 956,
+        "probe_category": "objects",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_44",
+        "first_seen_timestep": 50,
+        "best_view_timestep": 59,
+        "num_sightings": 8,
+        "spatial_relation": "left",
+        "object_position": [
+          7.935299873352051,
+          -5.418429851531982,
+          0.1800670623779297
+        ],
+        "agent_position_when_seen": [
+          3.91031551361084,
+          -5.955618858337402,
+          6.619139194488525
+        ],
+        "pixel_centroid_x": 81.70618556701031,
+        "normalized_position_x": -0.36167042525773196,
+        "object_pixel_count": 194,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 65
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 64,
+      "question": "Along your path, did you see the  before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        43,
+        290
+      ],
+      "metadata": {
+        "object_A_id": 43,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 290,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 43,
+        "asked_second_object_id": 290
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 35,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) balcony (C) meetingroom/conferenceroom",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "balcony",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "balcony",
+          "meetingroom/conferenceroom"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 58,
+      "question": "From your current viewpoint, is the curtain to the left or right of the column?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        762,
+        701
+      ],
+      "metadata": {
+        "object_A_id": 762,
+        "object_A_category": "column",
+        "object_A_position": [
+          9.950019836425781,
+          -3.354990005493164,
+          -10.17300033569336
+        ],
+        "object_B_id": 701,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          16.305200576782227,
+          -4.031139850616455,
+          2.7806496620178223
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          3.661564826965332,
+          -5.955618858337402,
+          6.594177722930908
+        ],
+        "agent_rotation": [
+          0.6708779335021973,
+          0.0,
+          -0.7415677905082703,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 15,
+      "question": "You are currently in the entryway/foyer/lobby, and you can see the stairs, bathroom. Based on your understanding of the environment layout, which other area is the entryway/foyer/lobby directly connected to? (A) closet (B) bathroom (C) bedroom",
+      "answer": "B",
+      "options": [
+        "closet",
+        "bathroom",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_31",
+        "adjacent_rooms": [
+          "0_34",
+          "0_36",
+          "0_37",
+          "0_38",
+          "0_39",
+          "0_41",
+          "0_42",
+          "0_45"
+        ],
+        "correct_answer_room": "0_37",
+        "all_options": [
+          "closet",
+          "bathroom",
+          "bedroom"
+        ],
+        "context_rooms": "stairs, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 36,
+    "question": "From your current viewpoint, is the objects to the left or right of the seating?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      673,
+      682
+    ],
+    "metadata": {
+      "object_A_id": 673,
+      "object_A_category": "seating",
+      "object_A_position": [
+        3.3346800804138184,
+        -5.781370162963867,
+        -4.201849937438965
+      ],
+      "object_B_id": 682,
+      "object_B_category": "objects",
+      "object_B_position": [
+        3.3232200145721436,
+        -4.817409992218018,
+        -5.69843053817749
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        1.9370896816253662,
+        -5.955618858337402,
+        4.219761848449707
+      ],
+      "agent_rotation": [
+        0.08080537617206573,
+        0.0,
+        -0.9967299699783325,
+        0.0
+      ]
+    }
+  }
+}

test/001743/meta.json

@@ -0,0 +1,189 @@
+{
+  "episode_id": 1743,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Leave the bathroom and go through the bedroom. Go out of the bedroom through the patio door. Stop once you are on the patio. ', instruction_tokens=[1355, 2389, 242, 119, 1067, 2418, 2389, 273, 15, 1067, 1658, 1605, 2389, 273, 2418, 2389, 1737, 757, 15, 2278, 1615, 2703, 149, 1613, 2389, 1737, 15])",
+  "instruction_text": "Leave the bathroom and go through the bedroom. Go out of the bedroom through the patio door. Stop once you are on the patio. ",
+  "num_steps": 52,
+  "total_unique_objects": 144,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 51,
+      "question": "Recall your earlier path. When you passed by the objects in the laundryroom/mudroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        183
+      ],
+      "metadata": {
+        "probe_object_id": 183,
+        "probe_category": "objects",
+        "probe_room": "laundryroom/mudroom",
+        "probe_region_id": "1_4",
+        "first_seen_timestep": 21,
+        "best_view_timestep": 22,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          4.8384199142456055,
+          4.786809921264648,
+          -3.0689098834991455
+        ],
+        "agent_position_when_seen": [
+          12.813178062438965,
+          0.11414599418640137,
+          -6.471044063568115
+        ],
+        "pixel_centroid_x": 29.8515625,
+        "normalized_position_x": -0.76678466796875,
+        "object_pixel_count": 128,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 52
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 51,
+      "question": "Along your path, did you see the beam before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        631,
+        663
+      ],
+      "metadata": {
+        "object_A_id": 631,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 663,
+        "object_B_category": "beam",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 663,
+        "asked_second_object_id": 631
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 35,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) entryway/foyer/lobby (C) office",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "entryway/foyer/lobby",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "office"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 22,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) living room (B) lounge (C) kitchen",
+      "answer": "B",
+      "options": [
+        "living room",
+        "lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_5",
+        "adjacent_rooms": [
+          "1_21",
+          "1_3"
+        ],
+        "correct_answer_room": "1_3",
+        "all_options": [
+          "living room",
+          "lounge",
+          "kitchen"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "bathroom",
+        "landmark_room": "lounge",
+        "final_room": "porch/terrace/deck",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "bedroom",
+          "porch/terrace/deck"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 51,
+    "question": "Along your path, did you see the beam before or after the curtain?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      631,
+      663
+    ],
+    "metadata": {
+      "object_A_id": 631,
+      "object_A_category": "curtain",
+      "object_A_timestep": 0,
+      "object_B_id": 663,
+      "object_B_category": "beam",
+      "object_B_timestep": 5,
+      "time_gap": 5,
+      "asked_first_object_id": 663,
+      "asked_second_object_id": 631
+    }
+  }
+}

test/001799/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 1799,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Leave the closet and go through the fitness room. Once past the fitness room take the first left into the bathroom and stop next to the light switch. ', instruction_tokens=[1355, 2389, 521, 119, 1067, 2418, 2389, 949, 1994, 15, 1615, 1728, 2389, 949, 1994, 2352, 2389, 946, 1360, 1264, 2389, 242, 119, 2278, 1576, 2438, 2389, 1378, 2333, 15])",
+  "instruction_text": "Leave the closet and go through the fitness room. Once past the fitness room take the first left into the bathroom and stop next to the light switch. ",
+  "num_steps": 54,
+  "total_unique_objects": 566,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "question": "Recall your earlier path. When you passed by the shelving in the office, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        546
+      ],
+      "metadata": {
+        "probe_object_id": 546,
+        "probe_category": "shelving",
+        "probe_room": "office",
+        "probe_region_id": "0_13",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 9,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          9.604809761047363,
+          1.4948201179504395,
+          -7.145839691162109
+        ],
+        "agent_position_when_seen": [
+          17.048599243164062,
+          0.13922199606895447,
+          -7.3719401359558105
+        ],
+        "pixel_centroid_x": 181.3304347826087,
+        "normalized_position_x": 0.4166440217391305,
+        "object_pixel_count": 115,
+        "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 objects before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        150
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "shelving",
+        "object_A_timestep": 3,
+        "object_B_id": 150,
+        "object_B_category": "objects",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 150,
+        "asked_second_object_id": 1
+      }
+    },
+    {
+      "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) workout/gym/exercise (B) kitchen (C) porch/terrace/deck",
+      "answer": "A",
+      "options": [
+        "workout/gym/exercise",
+        "kitchen",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "workout/gym/exercise",
+        "all_options": [
+          "workout/gym/exercise",
+          "kitchen",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "closet",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 14,
+      "question": "From your current viewpoint, is the shower to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        683,
+        804
+      ],
+      "metadata": {
+        "object_A_id": 683,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          11.82349967956543,
+          0.46454405784606934,
+          -2.763629913330078
+        ],
+        "object_B_id": 804,
+        "object_B_category": "shower",
+        "object_B_position": [
+          14.601300239562988,
+          0.028882712125778198,
+          -0.18646299839019775
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          17.020004272460938,
+          0.13922199606895447,
+          -6.872758388519287
+        ],
+        "agent_rotation": [
+          -0.028607085347175598,
+          0.0,
+          -0.9995907545089722,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 33,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) laundryroom/mudroom (B) utilityroom/toolroom (C) dining room",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "utilityroom/toolroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_0",
+          "0_3",
+          "0_4",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "laundryroom/mudroom",
+          "utilityroom/toolroom",
+          "dining room"
+        ],
+        "context_rooms": "other room, utilityroom/toolroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "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": 10,
+        "current_room": "closet",
+        "landmark_room": "office",
+        "final_room": "workout/gym/exercise",
+        "remaining_rooms": [
+          "closet",
+          "workout/gym/exercise"
+        ],
+        "all_rooms_in_trajectory": [
+          "closet",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "closet"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 53,
+    "question": "Recall your earlier path. When you passed by the shelving in the office, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      546
+    ],
+    "metadata": {
+      "probe_object_id": 546,
+      "probe_category": "shelving",
+      "probe_room": "office",
+      "probe_region_id": "0_13",
+      "first_seen_timestep": 7,
+      "best_view_timestep": 9,
+      "num_sightings": 3,
+      "spatial_relation": "right",
+      "object_position": [
+        9.604809761047363,
+        1.4948201179504395,
+        -7.145839691162109
+      ],
+      "agent_position_when_seen": [
+        17.048599243164062,
+        0.13922199606895447,
+        -7.3719401359558105
+      ],
+      "pixel_centroid_x": 181.3304347826087,
+      "normalized_position_x": 0.4166440217391305,
+      "object_pixel_count": 115,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 54
+    }
+  }
+}