Add files using upload-large-folder tool

test/000036/meta.json

@@ -0,0 +1,243 @@
+{
+  "episode_id": 36,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/pRbA3pwrgk9/pRbA3pwrgk9.glb",
+  "instruction": "InstructionData(instruction_text='Go check on the bathroom that is in the bedroom as soon as you walk through the door off the porch. ', instruction_tokens=[1067, 474, 1613, 2389, 242, 2388, 1267, 1237, 2389, 273, 170, 2189, 170, 2703, 2584, 2418, 2389, 757, 1606, 2389, 1850, 15])",
+  "instruction_text": "Go check on the bathroom that is in the bedroom as soon as you walk through the door off the porch. ",
+  "num_steps": 56,
+  "total_unique_objects": 292,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 55,
+      "question": "Recall your earlier path. When you passed by the toilet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        83
+      ],
+      "metadata": {
+        "probe_object_id": 83,
+        "probe_category": "toilet",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_3",
+        "first_seen_timestep": 10,
+        "best_view_timestep": 48,
+        "num_sightings": 29,
+        "spatial_relation": "right",
+        "object_position": [
+          4.516200065612793,
+          -2.2831296920776367,
+          -0.9655032157897949
+        ],
+        "agent_position_when_seen": [
+          3.6677205562591553,
+          -0.7661948204040527,
+          2.9813549518585205
+        ],
+        "pixel_centroid_x": 172.51564185544768,
+        "normalized_position_x": 0.347778451995685,
+        "object_pixel_count": 3708,
+        "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 cabinet before or after the stairs?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        185
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 185,
+        "object_B_category": "stairs",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 4,
+        "asked_second_object_id": 185
+      }
+    },
+    {
+      "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) laundryroom/mudroom (B) bedroom (C) toilet",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "bedroom",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "laundryroom/mudroom",
+          "bedroom",
+          "toilet"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 55,
+      "question": "From your current viewpoint, is the objects to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        100,
+        97
+      ],
+      "metadata": {
+        "object_A_id": 100,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          5.019209861755371,
+          -1.044199824333191,
+          0.41490888595581055
+        ],
+        "object_B_id": 97,
+        "object_B_category": "objects",
+        "object_B_position": [
+          4.334680080413818,
+          -1.6192998886108398,
+          0.8445218205451965
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          4.1104254722595215,
+          -0.7661948204040527,
+          2.170450448989868
+        ],
+        "agent_rotation": [
+          -0.9985686540603638,
+          0.0,
+          0.05348527431488037,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) closet (B) other room (C) hallway",
+      "answer": "C",
+      "options": [
+        "closet",
+        "other room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "3_22",
+        "adjacent_rooms": [
+          "3_21",
+          "3_23",
+          "3_24",
+          "3_8"
+        ],
+        "correct_answer_room": "3_24",
+        "all_options": [
+          "closet",
+          "other room",
+          "hallway"
+        ],
+        "context_rooms": "living room, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 12,
+        "current_room": "bedroom",
+        "landmark_room": "closet",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "bedroom",
+          "bathroom",
+          "closet",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 3,
+    "question": "From your current position, will you pass through the toilet on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 3,
+      "current_room": "porch/terrace/deck",
+      "landmark_room": "toilet",
+      "final_room": "bathroom",
+      "remaining_rooms": [
+        "porch/terrace/deck",
+        "bedroom",
+        "bathroom",
+        "closet",
+        "bathroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "bedroom",
+        "closet",
+        "porch/terrace/deck"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "porch/terrace/deck"
+      ]
+    }
+  }
+}

test/000085/meta.json

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+{
+  "episode_id": 85,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb",
+  "instruction": "InstructionData(instruction_text=\"Go straight to the hallway and then turn left.  Go past the bed.  Veer to the right and go through the white door.  Stop when you're in the doorway. \", instruction_tokens=[1067, 2288, 2438, 2389, 1126, 119, 2394, 2494, 1360, 15, 1067, 1728, 2389, 267, 15, 2552, 2438, 2389, 1968, 119, 1067, 2418, 2389, 2637, 757, 15, 2278, 2632, 2703, 9, 1918, 1237, 2389, 766, 15])",
+  "instruction_text": "Go straight to the hallway and then turn left.  Go past the bed.  Veer to the right and go through the white door.  Stop when you're in the doorway. ",
+  "num_steps": 55,
+  "total_unique_objects": 373,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the workout/gym/exercise, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        515
+      ],
+      "metadata": {
+        "probe_object_id": 515,
+        "probe_category": "tv_monitor",
+        "probe_room": "workout/gym/exercise",
+        "probe_region_id": "0_29",
+        "first_seen_timestep": 33,
+        "best_view_timestep": 46,
+        "num_sightings": 13,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.66621994972229,
+          -1.0576698780059814,
+          -1.1955101490020752
+        ],
+        "agent_position_when_seen": [
+          1.2772701978683472,
+          3.4844110012054443,
+          7.362456798553467
+        ],
+        "pixel_centroid_x": 35.284046692607006,
+        "normalized_position_x": -0.7243433852140078,
+        "object_pixel_count": 257,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 55
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 54,
+      "question": "Along your path, did you see the column before or after the tv_monitor?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        132
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "tv_monitor",
+        "object_A_timestep": 0,
+        "object_B_id": 132,
+        "object_B_category": "column",
+        "object_B_timestep": 13,
+        "time_gap": 13,
+        "asked_first_object_id": 132,
+        "asked_second_object_id": 6
+      }
+    },
+    {
+      "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) spa/sauna (B) stairs (C) bedroom",
+      "answer": "C",
+      "options": [
+        "spa/sauna",
+        "stairs",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "spa/sauna",
+          "stairs",
+          "bedroom"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 52,
+      "question": "From your current viewpoint, is the stairs to the left or right of the beam?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        497,
+        447
+      ],
+      "metadata": {
+        "object_A_id": 497,
+        "object_A_category": "beam",
+        "object_A_position": [
+          3.2064199447631836,
+          1.9983997344970703,
+          -1.3353899717330933
+        ],
+        "object_B_id": 447,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          -0.4208409786224365,
+          -2.6869699954986572,
+          3.1640498638153076
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          1.3406962156295776,
+          3.495285749435425,
+          6.124344825744629
+        ],
+        "agent_rotation": [
+          0.9945756793022156,
+          0.0,
+          -0.10401524603366852,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 28,
+      "question": "You are currently in the bedroom, and you can see the bedroom, bathroom. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) kitchen (B) toilet (C) closet",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "toilet",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_1",
+        "adjacent_rooms": [
+          "2_0",
+          "2_2",
+          "2_3"
+        ],
+        "correct_answer_room": "2_3",
+        "all_options": [
+          "kitchen",
+          "toilet",
+          "closet"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 22,
+      "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": 22,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 54,
+    "question": "Recall your earlier path. When you passed by the chest_of_drawers in the bedroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      542
+    ],
+    "metadata": {
+      "probe_object_id": 542,
+      "probe_category": "chest_of_drawers",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_30",
+      "first_seen_timestep": 21,
+      "best_view_timestep": 29,
+      "num_sightings": 3,
+      "spatial_relation": "left",
+      "object_position": [
+        -4.953249931335449,
+        -2.1740000247955322,
+        -3.7129299640655518
+      ],
+      "agent_position_when_seen": [
+        1.5415531396865845,
+        3.553938388824463,
+        11.095149040222168
+      ],
+      "pixel_centroid_x": 44.98076923076923,
+      "normalized_position_x": -0.6485877403846154,
+      "object_pixel_count": 104,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 55
+    }
+  }
+}

test/000126/meta.json

@@ -0,0 +1,248 @@
+{
+  "episode_id": 126,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and face the doorway. Go through it. Once through it, turn left and go near the fireplace. Head left and through the bathroom door. ', instruction_tokens=[2494, 159, 119, 903, 2389, 766, 15, 1067, 2418, 1272, 15, 1615, 2418, 1272, 2494, 1360, 119, 1067, 1563, 2389, 942, 15, 1162, 1360, 119, 2418, 2389, 242, 757, 15])",
+  "instruction_text": "Turn around and face the doorway. Go through it. Once through it, turn left and go near the fireplace. Head left and through the bathroom door. ",
+  "num_steps": 95,
+  "total_unique_objects": 328,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 94,
+      "question": "Recall your earlier path. When you passed by the picture in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        522
+      ],
+      "metadata": {
+        "probe_object_id": 522,
+        "probe_category": "picture",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_18",
+        "first_seen_timestep": 87,
+        "best_view_timestep": 89,
+        "num_sightings": 6,
+        "spatial_relation": "right",
+        "object_position": [
+          -2.2504398822784424,
+          1.7234699726104736,
+          -0.6287928819656372
+        ],
+        "agent_position_when_seen": [
+          -3.7271199226379395,
+          -3.0999951362609863,
+          -4.572334289550781
+        ],
+        "pixel_centroid_x": 242.45575221238937,
+        "normalized_position_x": 0.894185564159292,
+        "object_pixel_count": 226,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 95
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 94,
+      "question": "Along your path, did you see the  before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        350,
+        44
+      ],
+      "metadata": {
+        "object_A_id": 350,
+        "object_A_category": "curtain",
+        "object_A_timestep": 9,
+        "object_B_id": 44,
+        "object_B_category": "",
+        "object_B_timestep": 15,
+        "time_gap": 6,
+        "asked_first_object_id": 44,
+        "asked_second_object_id": 350
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 56,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) balcony (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "balcony",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "kitchen",
+          "balcony",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 56,
+        "rooms_visited": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 41,
+      "question": "From your current viewpoint, is the curtain to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        353,
+        350
+      ],
+      "metadata": {
+        "object_A_id": 353,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -7.596169471740723,
+          0.8776459693908691,
+          -5.918099880218506
+        ],
+        "object_B_id": 350,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          -8.991399765014648,
+          1.4819002151489258,
+          -5.455979347229004
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -3.888324737548828,
+          -3.094271183013916,
+          -7.976883411407471
+        ],
+        "agent_rotation": [
+          0.34299489855766296,
+          0.0,
+          0.9393372535705566,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 78,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) bedroom (B) balcony (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "balcony",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_13",
+        "adjacent_rooms": [
+          "1_11",
+          "1_12",
+          "1_9"
+        ],
+        "correct_answer_room": "1_12",
+        "all_options": [
+          "bedroom",
+          "balcony",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 40,
+      "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": 40,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 83,
+    "question": "From your current viewpoint, is the picture to the left or right of the curtain?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      452,
+      450
+    ],
+    "metadata": {
+      "object_A_id": 452,
+      "object_A_category": "curtain",
+      "object_A_position": [
+        2.295180082321167,
+        1.7813401222229004,
+        -2.595590114593506
+      ],
+      "object_B_id": 450,
+      "object_B_category": "picture",
+      "object_B_position": [
+        2.321729898452759,
+        2.1806299686431885,
+        -0.6222460269927979
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -4.513980388641357,
+        -3.0999951362609863,
+        -5.150762557983398
+      ],
+      "agent_rotation": [
+        -0.29971617460250854,
+        0.0,
+        0.9540284276008606,
+        0.0
+      ]
+    }
+  }
+}

test/000154/meta.json

@@ -0,0 +1,192 @@
+{
+  "episode_id": 154,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/uNb9QFRL6hY/uNb9QFRL6hY.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and head towards the exit. Turn right and continue. Make another right into the glass doors and continue  down the hall way and stop in the middle. ', instruction_tokens=[2494, 159, 119, 1162, 2452, 2389, 888, 15, 2494, 1968, 119, 569, 15, 1446, 126, 1968, 1264, 2389, 1057, 762, 119, 569, 780, 2389, 1121, 2616, 119, 2278, 1237, 2389, 1506, 15])",
+  "instruction_text": "Turn around and head towards the exit. Turn right and continue. Make another right into the glass doors and continue  down the hall way and stop in the middle. ",
+  "num_steps": 57,
+  "total_unique_objects": 108,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the chest_of_drawers in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        268
+      ],
+      "metadata": {
+        "probe_object_id": 268,
+        "probe_category": "chest_of_drawers",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_14",
+        "first_seen_timestep": 48,
+        "best_view_timestep": 54,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          0.9894959926605225,
+          2.7354700565338135,
+          -2.935529947280884
+        ],
+        "agent_position_when_seen": [
+          -7.593771934509277,
+          2.5615451335906982,
+          -9.947624206542969
+        ],
+        "pixel_centroid_x": 231.80232558139534,
+        "normalized_position_x": 0.8109556686046511,
+        "object_pixel_count": 172,
+        "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 bed before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        1
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "",
+        "object_A_timestep": 31,
+        "object_B_id": 1,
+        "object_B_category": "bed",
+        "object_B_timestep": 35,
+        "time_gap": 4,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 7
+      }
+    },
+    {
+      "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) entryway/foyer/lobby (B) hallway (C) dining room",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "dining room"
+        ],
+        "query_timestep_internal": 55,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 34,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) stairs (B) office (C) kitchen",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "office",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_17",
+        "adjacent_rooms": [
+          "1_14",
+          "1_16",
+          "1_18",
+          "1_48",
+          "1_51",
+          "1_53"
+        ],
+        "correct_answer_room": "1_51",
+        "all_options": [
+          "stairs",
+          "office",
+          "kitchen"
+        ],
+        "context_rooms": "bedroom, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "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": 9,
+        "current_room": "bedroom",
+        "landmark_room": "closet",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "stairs",
+          "hallway",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 53,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) dining room (C) hallway",
+    "answer": "C",
+    "options": [
+      "porch/terrace/deck",
+      "dining room",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "porch/terrace/deck",
+        "dining room",
+        "hallway"
+      ],
+      "query_timestep_internal": 53,
+      "rooms_visited": [
+        "bedroom",
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

test/000167/meta.json

@@ -0,0 +1,180 @@
+{
+  "episode_id": 167,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='Enter the building through the door. Move into the bedroom on the right. Move forward and stop at the door of the bathroom. ', instruction_tokens=[860, 2389, 381, 2418, 2389, 757, 15, 1537, 1264, 2389, 273, 1613, 2389, 1968, 15, 1537, 993, 119, 2278, 178, 2389, 757, 1605, 2389, 242, 15])",
+  "instruction_text": "Enter the building through the door. Move into the bedroom on the right. Move forward and stop at the door of the bathroom. ",
+  "num_steps": 58,
+  "total_unique_objects": 33,
+  "mindcraft_queries": [
+    {
+      "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) hallway (B) dining room (C) bathroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "dining room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "dining room",
+          "bathroom"
+        ],
+        "query_timestep_internal": 22,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the tv_monitor to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        85,
+        103
+      ],
+      "metadata": {
+        "object_A_id": 85,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          11.865099906921387,
+          1.2764101028442383,
+          4.34975004196167
+        ],
+        "object_B_id": 103,
+        "object_B_category": "tv_monitor",
+        "object_B_position": [
+          11.601099967956543,
+          1.1811800003051758,
+          2.025059938430786
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          8.045991897583008,
+          0.05631500482559204,
+          -0.09692832827568054
+        ],
+        "agent_rotation": [
+          0.7251793146133423,
+          0.0,
+          -0.6885600686073303,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 19,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) kitchen (B) living room (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "living room",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_17",
+          "0_18",
+          "0_4",
+          "0_5"
+        ],
+        "correct_answer_room": "0_17",
+        "all_options": [
+          "kitchen",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "hallway, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the toilet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "toilet",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 10,
+    "question": "From your current viewpoint, is the tv_monitor in front of or behind the chest_of_drawers?",
+    "answer": "in front of",
+    "options": [
+      "in front of",
+      "behind"
+    ],
+    "probe_objects": [
+      95,
+      103
+    ],
+    "metadata": {
+      "object_A_id": 95,
+      "object_A_category": "chest_of_drawers",
+      "object_A_position": [
+        7.501890182495117,
+        0.3827739953994751,
+        2.045380115509033
+      ],
+      "object_B_id": 103,
+      "object_B_category": "tv_monitor",
+      "object_B_position": [
+        11.601099967956543,
+        1.1811800003051758,
+        2.025059938430786
+      ],
+      "spatial_relation": "in front of",
+      "agent_position": [
+        7.296997547149658,
+        0.05631500482559204,
+        -0.058100759983062744
+      ],
+      "agent_rotation": [
+        0.7251793146133423,
+        0.0,
+        -0.6885600686073303,
+        0.0
+      ]
+    }
+  }
+}

test/000229/meta.json

@@ -0,0 +1,251 @@
+{
+  "episode_id": 229,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/EDJbREhghzL/EDJbREhghzL.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway and then turn right where there is an entrance with two doors. Walk in and then turn right. Walk around the bed and then walk through the door straight ahead. Wait in the bathroom. ', instruction_tokens=[2584, 780, 2389, 1126, 119, 2394, 2494, 1968, 2633, 2395, 1267, 118, 867, 2661, 2509, 762, 15, 2584, 1237, 119, 2394, 2494, 1968, 15, 2584, 159, 2389, 267, 119, 2394, 2584, 2418, 2389, 757, 2288, 98, 15, 2579, 1237, 2389, 242, 15])",
+  "instruction_text": "Walk down the hallway and then turn right where there is an entrance with two doors. Walk in and then turn right. Walk around the bed and then walk through the door straight ahead. Wait in the bathroom. ",
+  "num_steps": 61,
+  "total_unique_objects": 377,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the fireplace in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        474
+      ],
+      "metadata": {
+        "probe_object_id": 474,
+        "probe_category": "fireplace",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          7.808300018310547,
+          0.6131089925765991,
+          -1.1611599922180176
+        ],
+        "agent_position_when_seen": [
+          1.4173099994659424,
+          0.1033330038189888,
+          3.329440116882324
+        ],
+        "pixel_centroid_x": 200.39236111111111,
+        "normalized_position_x": 0.5655653211805556,
+        "object_pixel_count": 288,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the plant before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        27,
+        1
+      ],
+      "metadata": {
+        "object_A_id": 27,
+        "object_A_category": "",
+        "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": 27
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 58,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) bedroom (C) kitchen",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "lounge",
+          "bedroom",
+          "kitchen"
+        ],
+        "query_timestep_internal": 58,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 30,
+      "question": "From your current viewpoint, is the objects to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        271,
+        250
+      ],
+      "metadata": {
+        "object_A_id": 271,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -1.7427200078964233,
+          0.4652330279350281,
+          -0.7520768642425537
+        ],
+        "object_B_id": 250,
+        "object_B_category": "objects",
+        "object_B_position": [
+          0.8717079758644104,
+          0.5707929134368896,
+          0.48630306124687195
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -1.2098355293273926,
+          0.1033330038189888,
+          1.5699708461761475
+        ],
+        "agent_rotation": [
+          -0.9998382925987244,
+          0.0,
+          -0.017986983060836792,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 25,
+      "question": "You are currently in the hallway, and you can see the bathroom, bedroom. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) laundryroom/mudroom (B) balcony (C) bedroom",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "balcony",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_14",
+          "0_4",
+          "0_5",
+          "0_6",
+          "0_7",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "laundryroom/mudroom",
+          "balcony",
+          "bedroom"
+        ],
+        "context_rooms": "bathroom, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 11,
+    "question": "From your current viewpoint, is the railing to the left or right of the sofa?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      135,
+      529
+    ],
+    "metadata": {
+      "object_A_id": 135,
+      "object_A_category": "sofa",
+      "object_A_position": [
+        -7.719480037689209,
+        0.47315311431884766,
+        5.7440900802612305
+      ],
+      "object_B_id": 529,
+      "object_B_category": "railing",
+      "object_B_position": [
+        -3.8100199699401855,
+        1.326550006866455,
+        5.656750202178955
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        0.9604187607765198,
+        0.1033330038189888,
+        3.118212938308716
+      ],
+      "agent_rotation": [
+        -0.7822752594947815,
+        0.0,
+        -0.6229329705238342,
+        0.0
+      ]
+    }
+  }
+}

test/000244/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 244,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/8WUmhLawc2A/8WUmhLawc2A.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the living room. Then walk through the hallway and into the room that is straight ahead. Wait at the entrance to the room. ', instruction_tokens=[2584, 2452, 2389, 1404, 1994, 15, 2394, 2584, 2418, 2389, 1126, 119, 1264, 2389, 1994, 2388, 1267, 2288, 98, 15, 2579, 178, 2389, 867, 2438, 2389, 1994, 15])",
+  "instruction_text": "Walk towards the living room. Then walk through the hallway and into the room that is straight ahead. Wait at the entrance to the room. ",
+  "num_steps": 52,
+  "total_unique_objects": 226,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 51,
+      "question": "Recall your earlier path. When you passed by the seating in the dining room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        170
+      ],
+      "metadata": {
+        "probe_object_id": 170,
+        "probe_category": "seating",
+        "probe_room": "dining room",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -11.867199897766113,
+          0.25209569931030273,
+          -6.336899757385254
+        ],
+        "agent_position_when_seen": [
+          -6.144619941711426,
+          0.10065700113773346,
+          -6.713550090789795
+        ],
+        "pixel_centroid_x": 178.72,
+        "normalized_position_x": 0.39625,
+        "object_pixel_count": 150,
+        "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 cushion before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        75
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "cushion",
+        "object_A_timestep": 0,
+        "object_B_id": 75,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 75
+      }
+    },
+    {
+      "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) hallway (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "office",
+        "hallway",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "office",
+          "hallway",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 37,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the bed to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        24,
+        3
+      ],
+      "metadata": {
+        "object_A_id": 24,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -6.3296799659729,
+          0.32605695724487305,
+          4.034420013427734
+        ],
+        "object_B_id": 3,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -8.671110153198242,
+          0.7320747375488281,
+          3.7955996990203857
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -6.057269096374512,
+          0.10065700113773346,
+          -4.022231578826904
+        ],
+        "agent_rotation": [
+          0.0873807966709137,
+          0.0,
+          -0.9961750507354736,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "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) laundryroom/mudroom (C) bathroom",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "laundryroom/mudroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_16",
+          "0_4"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "bedroom",
+          "laundryroom/mudroom",
+          "bathroom"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "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": 6,
+        "current_room": "kitchen",
+        "landmark_room": "living room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "kitchen",
+          "living room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 51,
+    "question": "Along your path, did you see the bed before or after the cushion?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      2,
+      75
+    ],
+    "metadata": {
+      "object_A_id": 2,
+      "object_A_category": "cushion",
+      "object_A_timestep": 0,
+      "object_B_id": 75,
+      "object_B_category": "bed",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 75,
+      "asked_second_object_id": 2
+    }
+  }
+}

test/000273/meta.json

@@ -0,0 +1,97 @@
+{
+  "episode_id": 273,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Walk away from the bookshelf and straight past the stairs into the main room and walk past the half wall and take a right past the half wall into the boiler room and stop to the right of the rug near the sink. ', instruction_tokens=[2584, 187, 1017, 2389, 339, 119, 2288, 1728, 2389, 2222, 1264, 2389, 1445, 1994, 119, 2584, 1728, 2389, 1118, 2593, 119, 2352, 73, 1968, 1728, 2389, 1118, 2593, 1264, 2389, 332, 1994, 119, 2278, 2438, 2389, 1968, 1605, 2389, 2010, 1563, 2389, 2132, 15])",
+  "instruction_text": "Walk away from the bookshelf and straight past the stairs into the main room and walk past the half wall and take a right past the half wall into the boiler room and stop to the right of the rug near the sink. ",
+  "num_steps": 52,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 47,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) other room (C) utilityroom/toolroom",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "other room",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "utilityroom/toolroom",
+        "all_options": [
+          "dining room",
+          "other room",
+          "utilityroom/toolroom"
+        ],
+        "query_timestep_internal": 47,
+        "rooms_visited": [
+          "stairs",
+          "utilityroom/toolroom"
+        ]
+      }
+    },
+    {
+      "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": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 5,
+        "current_room": "utilityroom/toolroom",
+        "landmark_room": "stairs",
+        "final_room": "utilityroom/toolroom",
+        "remaining_rooms": [
+          "utilityroom/toolroom",
+          "stairs",
+          "utilityroom/toolroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "stairs",
+          "utilityroom/toolroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "utilityroom/toolroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 5,
+      "current_room": "utilityroom/toolroom",
+      "landmark_room": "stairs",
+      "final_room": "utilityroom/toolroom",
+      "remaining_rooms": [
+        "utilityroom/toolroom",
+        "stairs",
+        "utilityroom/toolroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "stairs",
+        "utilityroom/toolroom"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "utilityroom/toolroom"
+      ]
+    }
+  }
+}

test/000283/meta.json

@@ -0,0 +1,253 @@
+{
+  "episode_id": 283,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Move toward the red art piece. Go inside. Turn left and walk toward the red chair. Begin to go up the stairs to your left. Stop on the second stair. ', instruction_tokens=[1537, 2451, 2389, 1939, 165, 1780, 15, 1067, 1249, 15, 2494, 1360, 119, 2584, 2451, 2389, 1939, 457, 15, 282, 2438, 1067, 2527, 2389, 2222, 2438, 2706, 1360, 15, 2278, 1613, 2389, 2054, 2219, 15])",
+  "instruction_text": "Move toward the red art piece. Go inside. Turn left and walk toward the red chair. Begin to go up the stairs to your left. Stop on the second stair. ",
+  "num_steps": 79,
+  "total_unique_objects": 174,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 78,
+      "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": [
+        268
+      ],
+      "metadata": {
+        "probe_object_id": 268,
+        "probe_category": "chair",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_23",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 4,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          -8.117899894714355,
+          -0.02414989471435547,
+          4.1041998863220215
+        ],
+        "agent_position_when_seen": [
+          0.9328915476799011,
+          0.005729019641876221,
+          -5.4196648597717285
+        ],
+        "pixel_centroid_x": 186.16875,
+        "normalized_position_x": 0.4544433593749999,
+        "object_pixel_count": 160,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 79
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 78,
+      "question": "Along your path, did you see the chair before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        35,
+        244
+      ],
+      "metadata": {
+        "object_A_id": 35,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 244,
+        "object_B_category": "chair",
+        "object_B_timestep": 8,
+        "time_gap": 8,
+        "asked_first_object_id": 244,
+        "asked_second_object_id": 35
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 76,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) familyroom/lounge (C) kitchen",
+      "answer": "B",
+      "options": [
+        "closet",
+        "familyroom/lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "closet",
+          "familyroom/lounge",
+          "kitchen"
+        ],
+        "query_timestep_internal": 76,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "hallway",
+          "outdoor",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 64,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        50,
+        36
+      ],
+      "metadata": {
+        "object_A_id": 50,
+        "object_A_category": "table",
+        "object_A_position": [
+          11.84589958190918,
+          1.2722798585891724,
+          1.445680022239685
+        ],
+        "object_B_id": 36,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          13.008500099182129,
+          1.7957099676132202,
+          -0.7811810374259949
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          3.704331636428833,
+          0.20572906732559204,
+          3.0153398513793945
+        ],
+        "agent_rotation": [
+          -0.6751718521118164,
+          0.0,
+          0.7376605272293091,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 55,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) spa/sauna (B) hallway (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "spa/sauna",
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_16",
+          "0_20",
+          "0_29",
+          "0_3",
+          "0_30",
+          "0_5"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "spa/sauna",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "stairs, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "question": "From your current position, will you pass through the outdoor on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 21,
+        "current_room": "hallway",
+        "landmark_room": "outdoor",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "hallway",
+          "outdoor",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "outdoor"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 78,
+    "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": [
+      265
+    ],
+    "metadata": {
+      "probe_object_id": 265,
+      "probe_category": "bed",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_23",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 9,
+      "num_sightings": 12,
+      "spatial_relation": "right",
+      "object_position": [
+        -5.508609771728516,
+        0.23118579387664795,
+        2.1992197036743164
+      ],
+      "agent_position_when_seen": [
+        0.21475957334041595,
+        0.005729019641876221,
+        -4.396539211273193
+      ],
+      "pixel_centroid_x": 214.97189349112426,
+      "normalized_position_x": 0.6794679178994083,
+      "object_pixel_count": 1352,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 79
+    }
+  }
+}

test/000340/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 340,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the hallway past the bedroom and into the dining room area. Walk past the dining room table with chairs tucked under. Continue into the hallway on the other side of the table and into the bathroom near the end of the hall. ', instruction_tokens=[2584, 2418, 2389, 1126, 1728, 2389, 273, 119, 1264, 2389, 711, 1994, 150, 15, 2584, 1728, 2389, 711, 1994, 2342, 2661, 458, 2491, 2517, 15, 569, 1264, 2389, 1126, 1613, 2389, 1651, 2121, 1605, 2389, 2342, 119, 1264, 2389, 242, 1563, 2389, 851, 1605, 2389, 1121, 15])",
+  "instruction_text": "Walk through the hallway past the bedroom and into the dining room area. Walk past the dining room table with chairs tucked under. Continue into the hallway on the other side of the table and into the bathroom near the end of the hall. ",
+  "num_steps": 79,
+  "total_unique_objects": 136,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 78,
+      "question": "Recall your earlier path. When you passed by the table in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        321
+      ],
+      "metadata": {
+        "probe_object_id": 321,
+        "probe_category": "table",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_13",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 14,
+        "num_sightings": 14,
+        "spatial_relation": "right",
+        "object_position": [
+          -7.690780162811279,
+          0.4991109371185303,
+          2.272969961166382
+        ],
+        "agent_position_when_seen": [
+          -7.201056003570557,
+          0.04283595085144043,
+          -2.0855610370635986
+        ],
+        "pixel_centroid_x": 190.14558984878119,
+        "normalized_position_x": 0.485512420693603,
+        "object_pixel_count": 20963,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 79
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 9,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) hallway (C) bedroom",
+      "answer": "B",
+      "options": [
+        "other room",
+        "hallway",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "hallway",
+          "bedroom"
+        ],
+        "query_timestep_internal": 9,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 4,
+      "question": "From your current viewpoint, is the mirror to the left or right of the sofa?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        363,
+        369
+      ],
+      "metadata": {
+        "object_A_id": 363,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -3.664489984512329,
+          0.611003041267395,
+          0.08238357305526733
+        ],
+        "object_B_id": 369,
+        "object_B_category": "mirror",
+        "object_B_position": [
+          -3.7127299308776855,
+          1.570930004119873,
+          5.42195987701416
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -7.386439800262451,
+          0.04283595085144043,
+          -3.0595200061798096
+        ],
+        "agent_rotation": [
+          0.7270351648330688,
+          0.0,
+          -0.6866002678871155,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 1,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) laundryroom/mudroom (B) toilet (C) bedroom",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "toilet",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_25",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_13",
+          "0_14",
+          "0_17",
+          "0_18",
+          "0_21",
+          "0_22",
+          "0_23",
+          "0_24",
+          "0_26",
+          "0_27",
+          "0_6"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "laundryroom/mudroom",
+          "toilet",
+          "bedroom"
+        ],
+        "context_rooms": "bedroom, kitchen"
+      }
+    },
+    {
+      "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": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "hallway",
+        "landmark_room": "bathroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "kitchen",
+          "dining room",
+          "kitchen",
+          "hallway",
+          "bathroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 78,
+    "question": "Recall your earlier path. When you passed by the table in the kitchen, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      321
+    ],
+    "metadata": {
+      "probe_object_id": 321,
+      "probe_category": "table",
+      "probe_room": "kitchen",
+      "probe_region_id": "0_13",
+      "first_seen_timestep": 6,
+      "best_view_timestep": 14,
+      "num_sightings": 14,
+      "spatial_relation": "right",
+      "object_position": [
+        -7.690780162811279,
+        0.4991109371185303,
+        2.272969961166382
+      ],
+      "agent_position_when_seen": [
+        -7.201056003570557,
+        0.04283595085144043,
+        -2.0855610370635986
+      ],
+      "pixel_centroid_x": 190.14558984878119,
+      "normalized_position_x": 0.485512420693603,
+      "object_pixel_count": 20963,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 79
+    }
+  }
+}

test/000424/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 424,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='pass between couch and stairs continue into hall.  Turn right and pass through door, stop before cheetah wall hanging. ', instruction_tokens=[1721, 294, 593, 119, 2222, 569, 1264, 1121, 15, 2494, 1968, 119, 1721, 2418, 757, 2278, 281, 478, 2593, 1149, 15])",
+  "instruction_text": "pass between couch and stairs continue into hall.  Turn right and pass through door, stop before cheetah wall hanging. ",
+  "num_steps": 62,
+  "total_unique_objects": 80,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "question": "Recall your earlier path. When you passed by the lighting in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        142
+      ],
+      "metadata": {
+        "probe_object_id": 142,
+        "probe_category": "lighting",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_7",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -0.2740499973297119,
+          2.3094496726989746,
+          -2.8398499488830566
+        ],
+        "agent_position_when_seen": [
+          0.8209019899368286,
+          -2.650341033935547,
+          -2.193650007247925
+        ],
+        "pixel_centroid_x": 159.01602564102564,
+        "normalized_position_x": 0.24231270032051277,
+        "object_pixel_count": 312,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 62
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 61,
+      "question": "Along your path, did you see the chair before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        31
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 31,
+        "object_B_category": "table",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 31
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 59,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) kitchen (C) closet",
+      "answer": "A",
+      "options": [
+        "lounge",
+        "kitchen",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "lounge",
+          "kitchen",
+          "closet"
+        ],
+        "query_timestep_internal": 59,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the railing to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        103,
+        90
+      ],
+      "metadata": {
+        "object_A_id": 103,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          5.717649936676025,
+          1.8129301071166992,
+          -4.226200103759766
+        ],
+        "object_B_id": 90,
+        "object_B_category": "railing",
+        "object_B_position": [
+          5.143819808959961,
+          1.3603601455688477,
+          -3.5666699409484863
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          1.7767125368118286,
+          -2.650341033935547,
+          -1.9222666025161743
+        ],
+        "agent_rotation": [
+          0.6782578229904175,
+          0.0,
+          -0.7348240613937378,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 20,
+      "question": "You are currently in the familyroom/lounge, and you can see the bathroom, hallway. Based on your understanding of the environment layout, which other area is the familyroom/lounge directly connected to? (A) bedroom (B) porch/terrace/deck (C) kitchen",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "porch/terrace/deck",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_1",
+        "adjacent_rooms": [
+          "0_0",
+          "0_2",
+          "0_26",
+          "0_3",
+          "0_5"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "bedroom",
+          "porch/terrace/deck",
+          "kitchen"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 2,
+      "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": 2,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "living room",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 61,
+    "question": "Along your path, did you see the table before or after the chair?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      7,
+      31
+    ],
+    "metadata": {
+      "object_A_id": 7,
+      "object_A_category": "chair",
+      "object_A_timestep": 0,
+      "object_B_id": 31,
+      "object_B_category": "table",
+      "object_B_timestep": 4,
+      "time_gap": 4,
+      "asked_first_object_id": 31,
+      "asked_second_object_id": 7
+    }
+  }
+}

test/000442/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 442,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VLzqgDo317F/VLzqgDo317F.glb",
+  "instruction": "InstructionData(instruction_text='leave sitting room, jump the ropes and stop at top of stairs looking toward chandelier. ', instruction_tokens=[1355, 2139, 1994, 1291, 2389, 2000, 119, 2278, 178, 2444, 1605, 2222, 1421, 2451, 465, 15])",
+  "instruction_text": "leave sitting room, jump the ropes and stop at top of stairs looking toward chandelier. ",
+  "num_steps": 44,
+  "total_unique_objects": 584,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 43,
+      "question": "Recall your earlier path. When you passed by the table in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        234
+      ],
+      "metadata": {
+        "probe_object_id": 234,
+        "probe_category": "table",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 18,
+        "num_sightings": 8,
+        "spatial_relation": "left",
+        "object_position": [
+          -8.681099891662598,
+          -2.7483596801757812,
+          13.027899742126465
+        ],
+        "agent_position_when_seen": [
+          0.8757256269454956,
+          3.1394436359405518,
+          10.975607872009277
+        ],
+        "pixel_centroid_x": 22.59760956175299,
+        "normalized_position_x": -0.8234561752988048,
+        "object_pixel_count": 251,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 44
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the curtain before or after the cushion?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        3,
+        142
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 142,
+        "object_B_category": "cushion",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 3,
+        "asked_second_object_id": 142
+      }
+    },
+    {
+      "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) junk (B) meetingroom/conferenceroom (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "junk",
+        "meetingroom/conferenceroom",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "meetingroom/conferenceroom",
+        "all_options": [
+          "junk",
+          "meetingroom/conferenceroom",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 10,
+        "rooms_visited": [
+          "hallway",
+          "meetingroom/conferenceroom",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 42,
+      "question": "From your current viewpoint, is the column to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        561,
+        165
+      ],
+      "metadata": {
+        "object_A_id": 561,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          -2.181309938430786,
+          -1.065810203552246,
+          2.877149820327759
+        ],
+        "object_B_id": 165,
+        "object_B_category": "column",
+        "object_B_position": [
+          -1.4132499694824219,
+          -0.6311240196228027,
+          6.024809837341309
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -0.2219383418560028,
+          3.285928249359131,
+          6.404024124145508
+        ],
+        "agent_rotation": [
+          -0.9988716244697571,
+          0.0,
+          0.04749281704425812,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 28,
+      "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) junk (C) meetingroom/conferenceroom",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "junk",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_10",
+          "0_12",
+          "0_13",
+          "0_17",
+          "0_18",
+          "0_4"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "stairs",
+          "junk",
+          "meetingroom/conferenceroom"
+        ],
+        "context_rooms": "stairs, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "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": 21,
+        "current_room": "meetingroom/conferenceroom",
+        "landmark_room": "hallway",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "meetingroom/conferenceroom",
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "meetingroom/conferenceroom",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "meetingroom/conferenceroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 0,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) meetingroom/conferenceroom (C) junk",
+    "answer": "B",
+    "options": [
+      "entryway/foyer/lobby",
+      "meetingroom/conferenceroom",
+      "junk"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "meetingroom/conferenceroom",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "meetingroom/conferenceroom",
+        "junk"
+      ],
+      "query_timestep_internal": 0,
+      "rooms_visited": [
+        "hallway",
+        "meetingroom/conferenceroom",
+        "stairs"
+      ]
+    }
+  }
+}

test/000475/meta.json

@@ -0,0 +1,182 @@
+{
+  "episode_id": 475,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway towards the stairs. Stop in front of the windows on the right past the door. ', instruction_tokens=[2584, 780, 2389, 1126, 2452, 2389, 2222, 15, 2278, 1237, 1019, 1605, 2389, 2654, 1613, 2389, 1968, 1728, 2389, 757, 15])",
+  "instruction_text": "Walk down the hallway towards the stairs. Stop in front of the windows on the right past the door. ",
+  "num_steps": 50,
+  "total_unique_objects": 319,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the seating in the lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        285
+      ],
+      "metadata": {
+        "probe_object_id": 285,
+        "probe_category": "seating",
+        "probe_room": "lounge",
+        "probe_region_id": "1_13",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 24,
+        "num_sightings": 11,
+        "spatial_relation": "right",
+        "object_position": [
+          3.103410005569458,
+          0.4067344665527344,
+          -4.72529935836792
+        ],
+        "agent_position_when_seen": [
+          -3.256223678588867,
+          -5.955618858337402,
+          -8.577532768249512
+        ],
+        "pixel_centroid_x": 245.08270676691728,
+        "normalized_position_x": 0.9147086466165413,
+        "object_pixel_count": 266,
+        "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 table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        43,
+        397
+      ],
+      "metadata": {
+        "object_A_id": 43,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 397,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 43,
+        "asked_second_object_id": 397
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 36,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) balcony (B) closet (C) stairs",
+      "answer": "A",
+      "options": [
+        "balcony",
+        "closet",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "balcony",
+          "closet",
+          "stairs"
+        ],
+        "query_timestep_internal": 36,
+        "rooms_visited": [
+          "balcony"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the table to the left or right of the column?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        340,
+        283
+      ],
+      "metadata": {
+        "object_A_id": 340,
+        "object_A_category": "column",
+        "object_A_position": [
+          6.3660101890563965,
+          2.346489906311035,
+          -10.214400291442871
+        ],
+        "object_B_id": 283,
+        "object_B_category": "table",
+        "object_B_position": [
+          3.3958399295806885,
+          0.8318189382553101,
+          0.337549090385437
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -8.217020034790039,
+          -5.955618858337402,
+          -8.631290435791016
+        ],
+        "agent_rotation": [
+          0.7350178360939026,
+          0.0,
+          -0.678047776222229,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 49,
+    "question": "Recall your earlier path. When you passed by the seating in the lounge, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      285
+    ],
+    "metadata": {
+      "probe_object_id": 285,
+      "probe_category": "seating",
+      "probe_room": "lounge",
+      "probe_region_id": "1_13",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 24,
+      "num_sightings": 11,
+      "spatial_relation": "right",
+      "object_position": [
+        3.103410005569458,
+        0.4067344665527344,
+        -4.72529935836792
+      ],
+      "agent_position_when_seen": [
+        -3.256223678588867,
+        -5.955618858337402,
+        -8.577532768249512
+      ],
+      "pixel_centroid_x": 245.08270676691728,
+      "normalized_position_x": 0.9147086466165413,
+      "object_pixel_count": 266,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 50
+    }
+  }
+}

test/000515/meta.json

@@ -0,0 +1,185 @@
+{
+  "episode_id": 515,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/17DRP5sb8fy/17DRP5sb8fy.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bedroom, enter the bathroom, wait at the toilet. ', instruction_tokens=[888, 2389, 273, 860, 2389, 242, 2579, 178, 2389, 2440, 15])",
+  "instruction_text": "Exit the bedroom, enter the bathroom, wait at the toilet. ",
+  "num_steps": 46,
+  "total_unique_objects": 141,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 45,
+      "question": "Recall your earlier path. When you passed by the table in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        158
+      ],
+      "metadata": {
+        "probe_object_id": 158,
+        "probe_category": "table",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 16,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          -9.594779968261719,
+          0.1968369483947754,
+          1.2596999406814575
+        ],
+        "agent_position_when_seen": [
+          -9.318618774414062,
+          0.07244700193405151,
+          1.668264627456665
+        ],
+        "pixel_centroid_x": 18.57943925233645,
+        "normalized_position_x": -0.8548481308411215,
+        "object_pixel_count": 321,
+        "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 clothes before or after the sink?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        34
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "sink",
+        "object_A_timestep": 7,
+        "object_B_id": 34,
+        "object_B_category": "clothes",
+        "object_B_timestep": 10,
+        "time_gap": 3,
+        "asked_first_object_id": 34,
+        "asked_second_object_id": 28
+      }
+    },
+    {
+      "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) familyroom/lounge (B) kitchen (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "kitchen",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "familyroom/lounge",
+          "kitchen",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "bathroom",
+          "familyroom/lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 7,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) toilet (B) tv (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "toilet",
+        "tv",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_7",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_2",
+          "0_5",
+          "0_9"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "toilet",
+          "tv",
+          "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 bathroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 21,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "bathroom",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "familyroom/lounge"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "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) dining room (B) familyroom/lounge (C) living room",
+    "answer": "B",
+    "options": [
+      "dining room",
+      "familyroom/lounge",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "familyroom/lounge",
+      "all_options": [
+        "dining room",
+        "familyroom/lounge",
+        "living room"
+      ],
+      "query_timestep_internal": 26,
+      "rooms_visited": [
+        "bathroom",
+        "familyroom/lounge"
+      ]
+    }
+  }
+}

test/000526/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 526,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/cV4RVeZvu5T/cV4RVeZvu5T.glb",
+  "instruction": "InstructionData(instruction_text='Walk up the stairs to the top.  Enter the doorway of the room on the left and stop. ', instruction_tokens=[2584, 2527, 2389, 2222, 2438, 2389, 2444, 15, 860, 2389, 766, 1605, 2389, 1994, 1613, 2389, 1360, 119, 2278, 15])",
+  "instruction_text": "Walk up the stairs to the top.  Enter the doorway of the room on the left and stop. ",
+  "num_steps": 30,
+  "total_unique_objects": 262,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 29,
+      "question": "Recall your earlier path. When you passed by the appliances in the laundryroom/mudroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        153
+      ],
+      "metadata": {
+        "probe_object_id": 153,
+        "probe_category": "appliances",
+        "probe_room": "laundryroom/mudroom",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 10,
+        "num_sightings": 13,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.3384000062942505,
+          0.5586410760879517,
+          -0.5807409286499023
+        ],
+        "agent_position_when_seen": [
+          -0.01299482211470604,
+          2.001067876815796,
+          4.053925514221191
+        ],
+        "pixel_centroid_x": 103.36608066184074,
+        "normalized_position_x": -0.19245249482936921,
+        "object_pixel_count": 967,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 30
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 29,
+      "question": "Along your path, did you see the objects before or after the plant?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        25,
+        102
+      ],
+      "metadata": {
+        "object_A_id": 25,
+        "object_A_category": "plant",
+        "object_A_timestep": 0,
+        "object_B_id": 102,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 102,
+        "asked_second_object_id": 25
+      }
+    },
+    {
+      "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) living room (B) hallway (C) lounge",
+      "answer": "B",
+      "options": [
+        "living room",
+        "hallway",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "living room",
+          "hallway",
+          "lounge"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the shelving to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        254,
+        107
+      ],
+      "metadata": {
+        "object_A_id": 254,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          3.637890100479126,
+          0.3450651168823242,
+          5.948999881744385
+        ],
+        "object_B_id": 107,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          -3.2612600326538086,
+          1.7982900142669678,
+          0.9056861400604248
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -0.09590847045183182,
+          2.5776710510253906,
+          3.3085224628448486
+        ],
+        "agent_rotation": [
+          -0.998466432094574,
+          0.0,
+          -0.055360663682222366,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 24,
+      "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) bathroom (B) laundryroom/mudroom (C) kitchen",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "laundryroom/mudroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_13",
+          "0_6",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "bathroom",
+          "laundryroom/mudroom",
+          "kitchen"
+        ],
+        "context_rooms": "stairs, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "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": 6,
+        "current_room": "stairs",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "stairs",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 11,
+    "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": 11,
+      "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"
+      ]
+    }
+  }
+}

test/000547/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 547,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='walk out of the elevator and go straight and into the kitchen. In the kitchen go down the stairs into the living room and stop next to the polka dotted chair next to the end table. ', instruction_tokens=[2584, 1658, 1605, 2389, 839, 119, 1067, 2288, 119, 1264, 2389, 1306, 15, 1237, 2389, 1306, 1067, 780, 2389, 2222, 1264, 2389, 1404, 1994, 119, 2278, 1576, 2438, 2389, 1842, 774, 457, 1576, 2438, 2389, 851, 2342, 15])",
+  "instruction_text": "walk out of the elevator and go straight and into the kitchen. In the kitchen go down the stairs into the living room and stop next to the polka dotted chair next to the end table. ",
+  "num_steps": 128,
+  "total_unique_objects": 363,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 127,
+      "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": [
+        916
+      ],
+      "metadata": {
+        "probe_object_id": 916,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_40",
+        "first_seen_timestep": 62,
+        "best_view_timestep": 74,
+        "num_sightings": 10,
+        "spatial_relation": "right",
+        "object_position": [
+          0.489374041557312,
+          4.147369861602783,
+          -1.835319995880127
+        ],
+        "agent_position_when_seen": [
+          -7.664259910583496,
+          0.11554622650146484,
+          -9.189188003540039
+        ],
+        "pixel_centroid_x": 223.9688473520249,
+        "normalized_position_x": 0.7497566199376946,
+        "object_pixel_count": 321,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 128
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 127,
+      "question": "Along your path, did you see the chair before or after the tv_monitor?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        506,
+        487
+      ],
+      "metadata": {
+        "object_A_id": 506,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 487,
+        "object_B_category": "tv_monitor",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 506,
+        "asked_second_object_id": 487
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 20,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) bathroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "bathroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "porch/terrace/deck",
+          "bathroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 20,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 103,
+      "question": "From your current viewpoint, is the tv_monitor to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        761,
+        487
+      ],
+      "metadata": {
+        "object_A_id": 761,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -18.038000106811523,
+          3.725299835205078,
+          -0.16146373748779297
+        ],
+        "object_B_id": 487,
+        "object_B_category": "tv_monitor",
+        "object_B_position": [
+          -17.293100357055664,
+          1.5001001358032227,
+          6.106629848480225
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -8.930220603942871,
+          -0.674671471118927,
+          -11.067046165466309
+        ],
+        "agent_rotation": [
+          0.6768673062324524,
+          0.0,
+          0.7361050844192505,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 55,
+      "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) hallway (C) office",
+      "answer": "B",
+      "options": [
+        "living room",
+        "hallway",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_39",
+        "adjacent_rooms": [
+          "2_37",
+          "2_38",
+          "2_40",
+          "2_42"
+        ],
+        "correct_answer_room": "2_37",
+        "all_options": [
+          "living room",
+          "hallway",
+          "office"
+        ],
+        "context_rooms": "laundryroom/mudroom, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "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": 16,
+        "current_room": "hallway",
+        "landmark_room": "closet",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "hallway",
+          "kitchen",
+          "stairs",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 13,
+    "question": "From your current position, will you pass through the stairs on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 13,
+      "current_room": "hallway",
+      "landmark_room": "stairs",
+      "final_room": "familyroom/lounge",
+      "remaining_rooms": [
+        "hallway",
+        "kitchen",
+        "stairs",
+        "familyroom/lounge"
+      ],
+      "all_rooms_in_trajectory": [
+        "familyroom/lounge",
+        "hallway",
+        "kitchen",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

test/000600/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 600,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='walk by bannister then turn right, stop at top of stairs. ', instruction_tokens=[2584, 404, 214, 2394, 2494, 1968, 2278, 178, 2444, 1605, 2222, 15])",
+  "instruction_text": "walk by bannister then turn right, stop at top of stairs. ",
+  "num_steps": 50,
+  "total_unique_objects": 122,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the shower in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        282
+      ],
+      "metadata": {
+        "probe_object_id": 282,
+        "probe_category": "shower",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_14",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 14,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -6.12253999710083,
+          1.450319528579712,
+          3.832200050354004
+        ],
+        "agent_position_when_seen": [
+          -2.2253637313842773,
+          0.15942811965942383,
+          4.571849346160889
+        ],
+        "pixel_centroid_x": 30.045871559633028,
+        "normalized_position_x": -0.765266628440367,
+        "object_pixel_count": 109,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 50
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 49,
+      "question": "Along your path, did you see the picture before or after the cabinet?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        30,
+        129
+      ],
+      "metadata": {
+        "object_A_id": 30,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 3,
+        "object_B_id": 129,
+        "object_B_category": "picture",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 129,
+        "asked_second_object_id": 30
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 1,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) laundryroom/mudroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "laundryroom/mudroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "lounge",
+          "laundryroom/mudroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 1,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 21,
+      "question": "From your current viewpoint, is the railing to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        179,
+        446
+      ],
+      "metadata": {
+        "object_A_id": 179,
+        "object_A_category": "picture",
+        "object_A_position": [
+          -2.8039000034332275,
+          -1.6647298336029053,
+          2.270819664001465
+        ],
+        "object_B_id": 446,
+        "object_B_category": "railing",
+        "object_B_position": [
+          -0.3864250183105469,
+          0.20076397061347961,
+          -0.11204898357391357
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -2.172851085662842,
+          0.15942811965942383,
+          3.0727686882019043
+        ],
+        "agent_rotation": [
+          -0.9935780763626099,
+          0.0,
+          -0.11314919590950012,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) hallway (B) balcony (C) familyroom/lounge",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "balcony",
+      "familyroom/lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "balcony",
+        "familyroom/lounge"
+      ],
+      "query_timestep_internal": 14,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

test/000607/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 607,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb",
+  "instruction": "InstructionData(instruction_text='Walk along the wooden porch around the corner and past the rocking chairs. Walk into the entry way of the home. Stop near the couch and floor lamp near the entry door. ', instruction_tokens=[2584, 108, 2389, 2672, 1850, 159, 2389, 589, 119, 1728, 2389, 1985, 458, 15, 2584, 1264, 2389, 871, 2616, 1605, 2389, 1198, 15, 2278, 1563, 2389, 593, 119, 959, 1325, 1563, 2389, 871, 757, 15])",
+  "instruction_text": "Walk along the wooden porch around the corner and past the rocking chairs. Walk into the entry way of the home. Stop near the couch and floor lamp near the entry door. ",
+  "num_steps": 49,
+  "total_unique_objects": 146,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the sofa in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        46
+      ],
+      "metadata": {
+        "probe_object_id": 46,
+        "probe_category": "sofa",
+        "probe_room": "living room",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 20,
+        "best_view_timestep": 32,
+        "num_sightings": 12,
+        "spatial_relation": "right",
+        "object_position": [
+          0.9903420209884644,
+          1.1814301013946533,
+          -1.8498499393463135
+        ],
+        "agent_position_when_seen": [
+          1.8134660720825195,
+          0.8055729866027832,
+          2.7969982624053955
+        ],
+        "pixel_centroid_x": 170.97098976109214,
+        "normalized_position_x": 0.33571085750853236,
+        "object_pixel_count": 586,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 49
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 48,
+      "question": "Along your path, did you see the chair before or after the 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": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) office (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "office",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "bathroom",
+          "office",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 28,
+      "question": "From your current viewpoint, is the railing to the left or right of the appliances?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        91,
+        122
+      ],
+      "metadata": {
+        "object_A_id": 91,
+        "object_A_category": "appliances",
+        "object_A_position": [
+          -2.0317800045013428,
+          1.8356297016143799,
+          3.9385499954223633
+        ],
+        "object_B_id": 122,
+        "object_B_category": "railing",
+        "object_B_position": [
+          2.720439910888672,
+          1.1796798706054688,
+          5.521420001983643
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          2.18394136428833,
+          0.8055729866027832,
+          3.147667169570923
+        ],
+        "agent_rotation": [
+          0.8727459907531738,
+          0.0,
+          0.488174706697464,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 19,
+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) laundryroom/mudroom (B) bedroom (C) office",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "bedroom",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_4",
+          "0_5",
+          "0_7"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "laundryroom/mudroom",
+          "bedroom",
+          "office"
+        ],
+        "context_rooms": "entryway/foyer/lobby, porch/terrace/deck"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "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": 21,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "laundryroom/mudroom",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 39,
+    "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) office (B) kitchen (C) porch/terrace/deck",
+    "answer": "C",
+    "options": [
+      "office",
+      "kitchen",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_1",
+      "adjacent_rooms": [
+        "0_0",
+        "0_2",
+        "0_7",
+        "0_8"
+      ],
+      "correct_answer_room": "0_7",
+      "all_options": [
+        "office",
+        "kitchen",
+        "porch/terrace/deck"
+      ],
+      "context_rooms": "bedroom, laundryroom/mudroom"
+    }
+  }
+}

test/000610/meta.json

@@ -0,0 +1,97 @@
+{
+  "episode_id": 610,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/8WUmhLawc2A/8WUmhLawc2A.glb",
+  "instruction": "InstructionData(instruction_text='turn right past refrigerator.   go to open doorway.  turn right then first left into closet. ', instruction_tokens=[2494, 1968, 1728, 1946, 15, 1067, 2438, 1625, 766, 15, 2494, 1968, 2394, 946, 1360, 1264, 521, 15])",
+  "instruction_text": "turn right past refrigerator.   go to open doorway.  turn right then first left into closet. ",
+  "num_steps": 32,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 8,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) bathroom (C) living room",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "bathroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "dining room",
+          "bathroom",
+          "living room"
+        ],
+        "query_timestep_internal": 8,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 7,
+        "current_room": "dining room",
+        "landmark_room": "hallway",
+        "final_room": "laundryroom/mudroom",
+        "remaining_rooms": [
+          "dining room",
+          "hallway",
+          "laundryroom/mudroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 24,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) hallway (C) tv",
+    "answer": "B",
+    "options": [
+      "office",
+      "hallway",
+      "tv"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "office",
+        "hallway",
+        "tv"
+      ],
+      "query_timestep_internal": 24,
+      "rooms_visited": [
+        "dining room",
+        "hallway",
+        "kitchen",
+        "laundryroom/mudroom"
+      ]
+    }
+  }
+}

test/000617/meta.json

@@ -0,0 +1,237 @@
+{
+  "episode_id": 617,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VFuaQ6m2Qom/VFuaQ6m2Qom.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward and turn right. Step out of the room and into the atrium and turn left. Walk past the couch and table and turn right. Walk up to the second step of the stairs and stop. ', instruction_tokens=[2584, 993, 119, 2494, 1968, 15, 2260, 1658, 1605, 2389, 1994, 119, 1264, 2389, 181, 119, 2494, 1360, 15, 2584, 1728, 2389, 593, 119, 2342, 119, 2494, 1968, 15, 2584, 2527, 2438, 2389, 2054, 2260, 1605, 2389, 2222, 119, 2278, 15])",
+  "instruction_text": "Walk forward and turn right. Step out of the room and into the atrium and turn left. Walk past the couch and table and turn right. Walk up to the second step of the stairs and stop. ",
+  "num_steps": 74,
+  "total_unique_objects": 125,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "question": "Recall your earlier path. When you passed by the railing in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        489
+      ],
+      "metadata": {
+        "probe_object_id": 489,
+        "probe_category": "railing",
+        "probe_room": "hallway",
+        "probe_region_id": "2_24",
+        "first_seen_timestep": 58,
+        "best_view_timestep": 60,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -17.63789939880371,
+          4.899639129638672,
+          -1.9713594913482666
+        ],
+        "agent_position_when_seen": [
+          -13.692098617553711,
+          0.05781888961791992,
+          -0.16811932623386383
+        ],
+        "pixel_centroid_x": 247.79850746268656,
+        "normalized_position_x": 0.9359258395522387,
+        "object_pixel_count": 134,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 74
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 73,
+      "question": "Along your path, did you see the  before or after the lighting?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        32,
+        6
+      ],
+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 6,
+        "object_B_category": "lighting",
+        "object_B_timestep": 15,
+        "time_gap": 15,
+        "asked_first_object_id": 32,
+        "asked_second_object_id": 6
+      }
+    },
+    {
+      "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) lounge (B) entryway/foyer/lobby (C) outdoor",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "entryway/foyer/lobby",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "lounge",
+          "entryway/foyer/lobby",
+          "outdoor"
+        ],
+        "query_timestep_internal": 21,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the bed to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        456,
+        447
+      ],
+      "metadata": {
+        "object_A_id": 456,
+        "object_A_category": "picture",
+        "object_A_position": [
+          -10.149700164794922,
+          6.133440017700195,
+          4.274099349975586
+        ],
+        "object_B_id": 447,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -8.914170265197754,
+          5.072770118713379,
+          2.5344295501708984
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -6.79522180557251,
+          0.0019810497760772705,
+          -5.212090492248535
+        ],
+        "agent_rotation": [
+          -0.8427692651748657,
+          0.0,
+          -0.5382750034332275,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 47,
+      "question": "You are currently in the entryway/foyer/lobby, and you can see the hallway, stairs. Based on your understanding of the environment layout, which other area is the entryway/foyer/lobby directly connected to? (A) rec/game (B) porch/terrace/deck (C) living room",
+      "answer": "C",
+      "options": [
+        "rec/game",
+        "porch/terrace/deck",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_5",
+        "adjacent_rooms": [
+          "1_10",
+          "1_11",
+          "1_13",
+          "1_19",
+          "1_20",
+          "1_36",
+          "1_6",
+          "1_7",
+          "1_8"
+        ],
+        "correct_answer_room": "1_19",
+        "all_options": [
+          "rec/game",
+          "porch/terrace/deck",
+          "living room"
+        ],
+        "context_rooms": "hallway, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "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": 5,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 41,
+    "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) familyroom/lounge (C) hallway",
+    "answer": "A",
+    "options": [
+      "entryway/foyer/lobby",
+      "familyroom/lounge",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_7",
+      "adjacent_rooms": [
+        "1_20",
+        "1_36",
+        "1_5"
+      ],
+      "correct_answer_room": "1_5",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "familyroom/lounge",
+        "hallway"
+      ],
+      "context_rooms": "bathroom, other room"
+    }
+  }
+}

test/000654/meta.json

@@ -0,0 +1,193 @@
+{
+  "episode_id": 654,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text=\"Go through the open door.  Turn to the left so you're facing down the hall.  Go past the kitchen island and through the doorway that's to the left.  Stop in the doorway. \", instruction_tokens=[1067, 2418, 2389, 1625, 757, 15, 2494, 2438, 2389, 1360, 2178, 2703, 9, 1918, 906, 780, 2389, 1121, 15, 1067, 1728, 2389, 1306, 1268, 119, 2418, 2389, 766, 2388, 9, 2018, 2438, 2389, 1360, 15, 2278, 1237, 2389, 766, 15])",
+  "instruction_text": "Go through the open door.  Turn to the left so you're facing down the hall.  Go past the kitchen island and through the doorway that's to the left.  Stop in the doorway. ",
+  "num_steps": 72,
+  "total_unique_objects": 894,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 71,
+      "question": "Recall your earlier path. When you passed by the chair in the other room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        21
+      ],
+      "metadata": {
+        "probe_object_id": 21,
+        "probe_category": "chair",
+        "probe_room": "other room",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 45,
+        "best_view_timestep": 49,
+        "num_sightings": 5,
+        "spatial_relation": "left",
+        "object_position": [
+          -12.487799644470215,
+          0.5032968521118164,
+          8.748149871826172
+        ],
+        "agent_position_when_seen": [
+          -7.3031086921691895,
+          0.13922199606895447,
+          8.735421180725098
+        ],
+        "pixel_centroid_x": 19.013793103448275,
+        "normalized_position_x": -0.8514547413793103,
+        "object_pixel_count": 145,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 72
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 71,
+      "question": "Along your path, did you see the shelving before or after the lighting?",
+      "answer": "before",
+      "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": 1,
+        "asked_second_object_id": 46
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 46,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) utilityroom/toolroom (C) kitchen",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "utilityroom/toolroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "bathroom",
+          "utilityroom/toolroom",
+          "kitchen"
+        ],
+        "query_timestep_internal": 46,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 35,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) bedroom (B) other room (C) workout/gym/exercise",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "other room",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_12",
+          "0_14",
+          "0_15",
+          "0_21",
+          "0_24"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "bedroom",
+          "other room",
+          "workout/gym/exercise"
+        ],
+        "context_rooms": "lounge, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "laundryroom/mudroom",
+        "landmark_room": "kitchen",
+        "final_room": "porch/terrace/deck",
+        "remaining_rooms": [
+          "laundryroom/mudroom",
+          "hallway",
+          "kitchen",
+          "porch/terrace/deck"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "laundryroom/mudroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 12,
+    "question": "You are currently in the laundryroom/mudroom, and you can see the bedroom, hallway. Based on your understanding of the environment layout, which other area is the laundryroom/mudroom directly connected to? (A) familyroom/lounge (B) closet (C) bedroom",
+    "answer": "C",
+    "options": [
+      "familyroom/lounge",
+      "closet",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_26",
+      "adjacent_rooms": [
+        "0_1",
+        "0_25",
+        "0_30"
+      ],
+      "correct_answer_room": "0_25",
+      "all_options": [
+        "familyroom/lounge",
+        "closet",
+        "bedroom"
+      ],
+      "context_rooms": "bedroom, hallway"
+    }
+  }
+}

test/000687/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 687,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Exit the room, enter the first door on the left.  Wait at the end of the massage tables. ', instruction_tokens=[888, 2389, 1994, 860, 2389, 946, 757, 1613, 2389, 1360, 15, 2579, 178, 2389, 851, 1605, 2389, 1472, 2347, 15])",
+  "instruction_text": "Exit the room, enter the first door on the left.  Wait at the end of the massage tables. ",
+  "num_steps": 64,
+  "total_unique_objects": 76,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the seating in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        541
+      ],
+      "metadata": {
+        "probe_object_id": 541,
+        "probe_category": "seating",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_27",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 46,
+        "num_sightings": 14,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.7636399269104004,
+          0.12878108024597168,
+          3.5357398986816406
+        ],
+        "agent_position_when_seen": [
+          -3.7085933685302734,
+          0.12697899341583252,
+          -2.8164234161376953
+        ],
+        "pixel_centroid_x": 45.23933402705515,
+        "normalized_position_x": -0.6465677029136316,
+        "object_pixel_count": 961,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 63,
+      "question": "Along your path, did you see the  before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        524
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 524,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 28,
+        "asked_second_object_id": 524
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 38,
+      "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": 38,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 19,
+      "question": "From your current viewpoint, is the lighting to the left or right of the objects?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        285,
+        521
+      ],
+      "metadata": {
+        "object_A_id": 285,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -1.621500015258789,
+          0.8296469449996948,
+          0.4636601209640503
+        ],
+        "object_B_id": 521,
+        "object_B_category": "lighting",
+        "object_B_position": [
+          -4.033959865570068,
+          2.7248597145080566,
+          2.609950542449951
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -1.35298752784729,
+          0.12697899341583252,
+          -0.18779152631759644
+        ],
+        "agent_rotation": [
+          -0.9857386946678162,
+          0.0,
+          -0.1682835817337036,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "question": "You are currently in the spa/sauna, and you can see the spa/sauna, spa/sauna. Based on your understanding of the environment layout, which other area is the spa/sauna directly connected to? (A) office (B) hallway (C) toilet",
+      "answer": "B",
+      "options": [
+        "office",
+        "hallway",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_11",
+          "0_14",
+          "0_27"
+        ],
+        "correct_answer_room": "0_11",
+        "all_options": [
+          "office",
+          "hallway",
+          "toilet"
+        ],
+        "context_rooms": "spa/sauna, spa/sauna"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "question": "From your current position, will you pass through the toilet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 21,
+        "current_room": "spa/sauna",
+        "landmark_room": "toilet",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "spa/sauna",
+          "hallway",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 63,
+    "question": "Along your path, did you see the  before or after the bed?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      28,
+      524
+    ],
+    "metadata": {
+      "object_A_id": 28,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 524,
+      "object_B_category": "bed",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 28,
+      "asked_second_object_id": 524
+    }
+  }
+}

test/000694/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 694,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight down the hallway, make a sharp left, then turn right into the bedroom. ', instruction_tokens=[2584, 2288, 780, 2389, 1126, 1446, 73, 2091, 1360, 2394, 2494, 1968, 1264, 2389, 273, 15])",
+  "instruction_text": "Walk straight down the hallway, make a sharp left, then turn right into the bedroom. ",
+  "num_steps": 81,
+  "total_unique_objects": 62,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 80,
+      "question": "Recall your earlier path. When you passed by the beam in the dining room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        373
+      ],
+      "metadata": {
+        "probe_object_id": 373,
+        "probe_category": "beam",
+        "probe_room": "dining room",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 4,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          0.20476996898651123,
+          3.089449882507324,
+          5.643320083618164
+        ],
+        "agent_position_when_seen": [
+          -0.14353600144386292,
+          0.09494519233703613,
+          -0.03969850018620491
+        ],
+        "pixel_centroid_x": 28.821243523316063,
+        "normalized_position_x": -0.7748340349740932,
+        "object_pixel_count": 386,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 81
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 80,
+      "question": "Along your path, did you see the shelving before or after the beam?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        435,
+        364
+      ],
+      "metadata": {
+        "object_A_id": 435,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 364,
+        "object_B_category": "beam",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 435,
+        "asked_second_object_id": 364
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 56,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) workout/gym/exercise (C) hallway",
+      "answer": "C",
+      "options": [
+        "closet",
+        "workout/gym/exercise",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "closet",
+          "workout/gym/exercise",
+          "hallway"
+        ],
+        "query_timestep_internal": 56,
+        "rooms_visited": [
+          "bedroom",
+          "familyroom/lounge",
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 5,
+      "question": "From your current viewpoint, is the shelving to the left or right of the lighting?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        441,
+        435
+      ],
+      "metadata": {
+        "object_A_id": 441,
+        "object_A_category": "lighting",
+        "object_A_position": [
+          1.6387799978256226,
+          0.6127958297729492,
+          3.079939842224121
+        ],
+        "object_B_id": 435,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          3.712399959564209,
+          1.2914799451828003,
+          -0.7115470170974731
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -0.14353600144386292,
+          0.09494519233703613,
+          -0.03969850018620491
+        ],
+        "agent_rotation": [
+          -0.9788339734077454,
+          0.0,
+          0.20465630292892456,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 0,
+      "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) familyroom/lounge (C) kitchen",
+      "answer": "A",
+      "options": [
+        "living room",
+        "familyroom/lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_10",
+          "0_12",
+          "0_24"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "living room",
+          "familyroom/lounge",
+          "kitchen"
+        ],
+        "context_rooms": "bedroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "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": 16,
+        "current_room": "hallway",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "familyroom/lounge",
+          "hallway",
+          "familyroom/lounge",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "familyroom/lounge",
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 27,
+    "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": 27,
+      "current_room": "hallway",
+      "landmark_room": "living room",
+      "final_room": "bedroom",
+      "remaining_rooms": [
+        "hallway",
+        "familyroom/lounge",
+        "hallway",
+        "familyroom/lounge",
+        "bedroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bedroom",
+        "familyroom/lounge",
+        "hallway",
+        "living room"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "visited_but_not_ahead",
+      "passed_rooms": [
+        "hallway",
+        "living room"
+      ]
+    }
+  }
+}

test/000743/meta.json

@@ -0,0 +1,98 @@
+{
+  "episode_id": 743,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb",
+  "instruction": "InstructionData(instruction_text='Facing the door take a right and go down the hallway going past the first door on your right and take a right into the hallway stopping behind the first big brown leather chair. ', instruction_tokens=[906, 2389, 757, 2352, 73, 1968, 119, 1067, 780, 2389, 1126, 1071, 1728, 2389, 946, 757, 1613, 2706, 1968, 119, 2352, 73, 1968, 1264, 2389, 1126, 2279, 285, 2389, 946, 300, 374, 1354, 457, 15])",
+  "instruction_text": "Facing the door take a right and go down the hallway going past the first door on your right and take a right into the hallway stopping behind the first big brown leather chair. ",
+  "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": [
+        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
+      }
+    },
+    {
+      "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) bedroom (B) spa/sauna (C) hallway",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "spa/sauna",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bedroom",
+          "spa/sauna",
+          "hallway"
+        ],
+        "query_timestep_internal": 10,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 20,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bedroom (C) living room",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "bedroom",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "bedroom",
+        "living room"
+      ],
+      "query_timestep_internal": 20,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

test/000829/meta.json

@@ -0,0 +1,204 @@
+{
+  "episode_id": 829,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk past the dining area. Take a left through the door, and stop in front of the sink. ', instruction_tokens=[2494, 159, 119, 2584, 1728, 2389, 711, 150, 15, 2352, 73, 1360, 2418, 2389, 757, 119, 2278, 1237, 1019, 1605, 2389, 2132, 15])",
+  "instruction_text": "Turn around and walk past the dining area. Take a left through the door, and stop in front of the sink. ",
+  "num_steps": 70,
+  "total_unique_objects": 230,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 69,
+      "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": [
+        141
+      ],
+      "metadata": {
+        "probe_object_id": 141,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_7",
+        "first_seen_timestep": 33,
+        "best_view_timestep": 35,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          9.040630340576172,
+          1.1575701236724854,
+          2.7259702682495117
+        ],
+        "agent_position_when_seen": [
+          1.3580485582351685,
+          0.011268138885498047,
+          -4.4136176109313965
+        ],
+        "pixel_centroid_x": 237.25125628140702,
+        "normalized_position_x": 0.8535254396984924,
+        "object_pixel_count": 199,
+        "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 cabinet before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        8,
+        472
+      ],
+      "metadata": {
+        "object_A_id": 8,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 472,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 472,
+        "asked_second_object_id": 8
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) dining room (C) living room",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "dining room",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "bedroom",
+          "dining room",
+          "living room"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 28,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) stairs (B) kitchen (C) closet",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "kitchen",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_7",
+        "adjacent_rooms": [
+          "1_25",
+          "1_26",
+          "1_35",
+          "1_36",
+          "1_8"
+        ],
+        "correct_answer_room": "1_36",
+        "all_options": [
+          "stairs",
+          "kitchen",
+          "closet"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "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": "living room",
+        "landmark_room": "bathroom",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "living room",
+          "kitchen",
+          "hallway",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 69,
+    "question": "Recall your earlier path. When you passed by the tv_monitor in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      189
+    ],
+    "metadata": {
+      "probe_object_id": 189,
+      "probe_category": "tv_monitor",
+      "probe_room": "bedroom",
+      "probe_region_id": "1_10",
+      "first_seen_timestep": 47,
+      "best_view_timestep": 48,
+      "num_sightings": 3,
+      "spatial_relation": "right",
+      "object_position": [
+        12.416199684143066,
+        1.7178800106048584,
+        -3.3870296478271484
+      ],
+      "agent_position_when_seen": [
+        3.6889944076538086,
+        0.12413698434829712,
+        -5.85812520980835
+      ],
+      "pixel_centroid_x": 248.26797385620915,
+      "normalized_position_x": 0.939593545751634,
+      "object_pixel_count": 153,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 70
+    }
+  }
+}

test/000832/meta.json

@@ -0,0 +1,216 @@
+{
+  "episode_id": 832,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JeFG25nYj2p/JeFG25nYj2p.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn to the left and go past the bed.  Turn to the right and then quickly to the left.  You'll go through the doorway and across the hall.  Then you will enter the living room and stop and wait. \", instruction_tokens=[2494, 2438, 2389, 1360, 119, 1067, 1728, 2389, 267, 15, 2494, 2438, 2389, 1968, 119, 2394, 1899, 2438, 2389, 1360, 15, 2703, 9, 1406, 1067, 2418, 2389, 766, 119, 85, 2389, 1121, 15, 2394, 2703, 2648, 860, 2389, 1404, 1994, 119, 2278, 119, 2579, 15])",
+  "instruction_text": "Turn to the left and go past the bed.  Turn to the right and then quickly to the left.  You'll go through the doorway and across the hall.  Then you will enter the living room and stop and wait. ",
+  "num_steps": 57,
+  "total_unique_objects": 398,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the seating in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        179
+      ],
+      "metadata": {
+        "probe_object_id": 179,
+        "probe_category": "seating",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 10,
+        "best_view_timestep": 10,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          -7.911890029907227,
+          0.25452423095703125,
+          8.603629112243652
+        ],
+        "agent_position_when_seen": [
+          -6.149344444274902,
+          0.09358400106430054,
+          8.57430362701416
+        ],
+        "pixel_centroid_x": 175.04,
+        "normalized_position_x": 0.36749999999999994,
+        "object_pixel_count": 100,
+        "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 furniture before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        177,
+        19
+      ],
+      "metadata": {
+        "object_A_id": 177,
+        "object_A_category": "curtain",
+        "object_A_timestep": 1,
+        "object_B_id": 19,
+        "object_B_category": "furniture",
+        "object_B_timestep": 5,
+        "time_gap": 4,
+        "asked_first_object_id": 19,
+        "asked_second_object_id": 177
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 23,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) laundryroom/mudroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "laundryroom/mudroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "lounge",
+          "laundryroom/mudroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 23,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 22,
+      "question": "From your current viewpoint, is the picture to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        436,
+        243
+      ],
+      "metadata": {
+        "object_A_id": 436,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -9.077980041503906,
+          1.2565693855285645,
+          6.103429317474365
+        ],
+        "object_B_id": 243,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -2.7115299701690674,
+          1.5665898323059082,
+          8.685230255126953
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -6.914243698120117,
+          0.09358400106430054,
+          6.476504325866699
+        ],
+        "agent_rotation": [
+          0.9913928508758545,
+          0.0,
+          0.1309209018945694,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) kitchen (B) dining room (C) lounge",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "dining room",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_20",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_12",
+          "0_4",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "kitchen",
+          "dining room",
+          "lounge"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 22,
+    "question": "From your current viewpoint, is the picture to the left or right of the cabinet?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      436,
+      243
+    ],
+    "metadata": {
+      "object_A_id": 436,
+      "object_A_category": "cabinet",
+      "object_A_position": [
+        -9.077980041503906,
+        1.2565693855285645,
+        6.103429317474365
+      ],
+      "object_B_id": 243,
+      "object_B_category": "picture",
+      "object_B_position": [
+        -2.7115299701690674,
+        1.5665898323059082,
+        8.685230255126953
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -6.914243698120117,
+        0.09358400106430054,
+        6.476504325866699
+      ],
+      "agent_rotation": [
+        0.9913928508758545,
+        0.0,
+        0.1309209018945694,
+        0.0
+      ]
+    }
+  }
+}

test/000843/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 843,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Go to the railing\\r\\nGo to the first painting\\r\\nGo to the mirror\\r\\nGo to the second painting\\r\\nGo left to the doorway\\r\\nGo to the phone. ', instruction_tokens=[1067, 2438, 2389, 1910, 1067, 2438, 2389, 946, 1688, 1067, 2438, 2389, 1515, 1067, 2438, 2389, 2054, 1688, 1067, 1360, 2438, 2389, 766, 1067, 2438, 2389, 1766, 15])",
+  "instruction_text": "Go to the railing\r\nGo to the first painting\r\nGo to the mirror\r\nGo to the second painting\r\nGo left to the doorway\r\nGo to the phone. ",
+  "num_steps": 64,
+  "total_unique_objects": 61,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the objects in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        678
+      ],
+      "metadata": {
+        "probe_object_id": 678,
+        "probe_category": "objects",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_27",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 13,
+        "num_sightings": 10,
+        "spatial_relation": "right",
+        "object_position": [
+          2.406709909439087,
+          5.358709812164307,
+          3.127429485321045
+        ],
+        "agent_position_when_seen": [
+          1.0449028015136719,
+          3.8914499282836914,
+          -4.3544440269470215
+        ],
+        "pixel_centroid_x": 209.33763996554694,
+        "normalized_position_x": 0.6354503122308355,
+        "object_pixel_count": 1161,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 63,
+      "question": "Along your path, did you see the wall before or after the wall?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        503,
+        621
+      ],
+      "metadata": {
+        "object_A_id": 503,
+        "object_A_category": "wall",
+        "object_A_timestep": 0,
+        "object_B_id": 621,
+        "object_B_category": "wall",
+        "object_B_timestep": 55,
+        "time_gap": 55,
+        "asked_first_object_id": 503,
+        "asked_second_object_id": 621
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 15,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) utilityroom/toolroom (B) entryway/foyer/lobby (C) hallway",
+      "answer": "C",
+      "options": [
+        "utilityroom/toolroom",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "utilityroom/toolroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 10,
+      "question": "From your current viewpoint, is the mirror in front of or behind the table?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        684,
+        681
+      ],
+      "metadata": {
+        "object_A_id": 684,
+        "object_A_category": "table",
+        "object_A_position": [
+          2.706049919128418,
+          4.63847017288208,
+          3.1098999977111816
+        ],
+        "object_B_id": 681,
+        "object_B_category": "mirror",
+        "object_B_position": [
+          2.5093300342559814,
+          5.741189479827881,
+          3.101860523223877
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          0.7206999063491821,
+          3.8914499282836914,
+          -3.678135633468628
+        ],
+        "agent_rotation": [
+          0.9751266241073608,
+          0.0,
+          -0.22164839506149292,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 1,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) entryway/foyer/lobby (B) utilityroom/toolroom (C) hallway",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "utilityroom/toolroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_21",
+        "adjacent_rooms": [
+          "1_11",
+          "1_48",
+          "1_49"
+        ],
+        "correct_answer_room": "1_48",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "utilityroom/toolroom",
+          "hallway"
+        ],
+        "context_rooms": "balcony, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "stairs",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 63,
+    "question": "Along your path, did you see the wall before or after the wall?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      503,
+      621
+    ],
+    "metadata": {
+      "object_A_id": 503,
+      "object_A_category": "wall",
+      "object_A_timestep": 0,
+      "object_B_id": 621,
+      "object_B_category": "wall",
+      "object_B_timestep": 55,
+      "time_gap": 55,
+      "asked_first_object_id": 503,
+      "asked_second_object_id": 621
+    }
+  }
+}

test/000861/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 861,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JmbYfDe2QKZ/JmbYfDe2QKZ.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the living room passed the arm chairs and television. Walk through the door on the other side of the room that opens into the dining room. Walk passed the table and stairs into the hallway that leads to a bathroom. ', instruction_tokens=[2584, 2418, 2389, 1404, 1994, 1725, 2389, 153, 458, 119, 2375, 15, 2584, 2418, 2389, 757, 1613, 2389, 1651, 2121, 1605, 2389, 1994, 2388, 1629, 1264, 2389, 711, 1994, 15, 2584, 1725, 2389, 2342, 119, 2222, 1264, 2389, 1126, 2388, 1350, 2438, 73, 242, 15])",
+  "instruction_text": "Walk through the living room passed the arm chairs and television. Walk through the door on the other side of the room that opens into the dining room. Walk passed the table and stairs into the hallway that leads to a bathroom. ",
+  "num_steps": 44,
+  "total_unique_objects": 231,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 43,
+      "question": "Recall your earlier path. When you passed by the shelving in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        253
+      ],
+      "metadata": {
+        "probe_object_id": 253,
+        "probe_category": "shelving",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 2,
+        "best_view_timestep": 2,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -6.931230068206787,
+          1.1260499954223633,
+          6.7893500328063965
+        ],
+        "agent_position_when_seen": [
+          -8.012350082397461,
+          0.07484699785709381,
+          4.829949855804443
+        ],
+        "pixel_centroid_x": 36.162962962962965,
+        "normalized_position_x": -0.7174768518518518,
+        "object_pixel_count": 135,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 44
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the railing before or after the shelving?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        167,
+        199
+      ],
+      "metadata": {
+        "object_A_id": 167,
+        "object_A_category": "railing",
+        "object_A_timestep": 0,
+        "object_B_id": 199,
+        "object_B_category": "shelving",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 167,
+        "asked_second_object_id": 199
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) familyroom/lounge (C) balcony",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "familyroom/lounge",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "bathroom",
+          "familyroom/lounge",
+          "balcony"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "dining room",
+          "familyroom/lounge",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the shelving to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        261,
+        196
+      ],
+      "metadata": {
+        "object_A_id": 261,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -6.151450157165527,
+          0.49013853073120117,
+          4.262949466705322
+        ],
+        "object_B_id": 196,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          -1.5095000267028809,
+          0.5740327835083008,
+          5.350920677185059
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -7.148015975952148,
+          0.07484699785709381,
+          4.32703161239624
+        ],
+        "agent_rotation": [
+          -0.9245237708091736,
+          0.0,
+          0.38112443685531616,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) stairs (B) living room (C) balcony",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "living room",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_3",
+        "adjacent_rooms": [
+          "1_4",
+          "1_6"
+        ],
+        "correct_answer_room": "1_6",
+        "all_options": [
+          "stairs",
+          "living room",
+          "balcony"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "dining room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "dining room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "familyroom/lounge",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 38,
+    "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) balcony (B) hallway (C) kitchen",
+    "answer": "B",
+    "options": [
+      "balcony",
+      "hallway",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_18",
+      "adjacent_rooms": [
+        "0_14",
+        "0_17",
+        "0_7"
+      ],
+      "correct_answer_room": "0_17",
+      "all_options": [
+        "balcony",
+        "hallway",
+        "kitchen"
+      ],
+      "context_rooms": "bathroom, stairs"
+    }
+  }
+}

test/000932/meta.json

@@ -0,0 +1,225 @@
+{
+  "episode_id": 932,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the glass door nearest to you. . Walk through the hall past the hanging tapestry. Walk along the hall over the floor rug. Turn the corner and walk into the bedroom. ', instruction_tokens=[2584, 1658, 1605, 2389, 1057, 757, 1565, 2438, 2703, 16, 2584, 2418, 2389, 1121, 1728, 2389, 1149, 2365, 15, 2584, 108, 2389, 1121, 1669, 2389, 959, 2010, 15, 2494, 2389, 589, 119, 2584, 1264, 2389, 273, 15])",
+  "instruction_text": "Walk out of the glass door nearest to you. . Walk through the hall past the hanging tapestry. Walk along the hall over the floor rug. Turn the corner and walk into the bedroom. ",
+  "num_steps": 57,
+  "total_unique_objects": 204,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the plant in the dining room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        418
+      ],
+      "metadata": {
+        "probe_object_id": 418,
+        "probe_category": "plant",
+        "probe_room": "dining room",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 16,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          -7.628530502319336,
+          0.8766530752182007,
+          0.515703022480011
+        ],
+        "agent_position_when_seen": [
+          -3.6366753578186035,
+          0.3000051975250244,
+          -7.169281959533691
+        ],
+        "pixel_centroid_x": 244.70397111913357,
+        "normalized_position_x": 0.911749774368231,
+        "object_pixel_count": 277,
+        "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 picture before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        44,
+        110
+      ],
+      "metadata": {
+        "object_A_id": 44,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 110,
+        "object_B_category": "picture",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 110,
+        "asked_second_object_id": 44
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 23,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) balcony (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "balcony",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bathroom",
+          "balcony",
+          "hallway"
+        ],
+        "query_timestep_internal": 23,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 19,
+      "question": "From your current viewpoint, is the bed in front of or behind the shelving?",
+      "answer": "in front of",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        440,
+        406
+      ],
+      "metadata": {
+        "object_A_id": 440,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          -6.488880157470703,
+          2.1990997791290283,
+          -3.0567100048065186
+        ],
+        "object_B_id": 406,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -6.486289978027344,
+          0.58685302734375,
+          -1.9433698654174805
+        ],
+        "spatial_relation": "in front of",
+        "agent_position": [
+          -3.5118696689605713,
+          0.3000051975250244,
+          -6.429738998413086
+        ],
+        "agent_rotation": [
+          0.08349531888961792,
+          0.0,
+          -0.9965081810951233,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 32,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) hallway (B) bathroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "bathroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_4",
+          "0_5",
+          "0_7"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "hallway",
+          "bathroom",
+          "stairs"
+        ],
+        "context_rooms": "familyroom/lounge, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 23,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) balcony (B) bathroom (C) hallway",
+    "answer": "C",
+    "options": [
+      "balcony",
+      "bathroom",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "balcony",
+        "bathroom",
+        "hallway"
+      ],
+      "query_timestep_internal": 23,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/000994/meta.json

@@ -0,0 +1,205 @@
+{
+  "episode_id": 994,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and walk towards the staircase, turn right in front of the fire place and walk down the hallway.  Wait near the brown bench. ', instruction_tokens=[2494, 1968, 119, 2584, 2452, 2389, 2220, 2494, 1968, 1237, 1019, 1605, 2389, 940, 1801, 119, 2584, 780, 2389, 1126, 15, 2579, 1563, 2389, 374, 290, 15])",
+  "instruction_text": "Turn right and walk towards the staircase, turn right in front of the fire place and walk down the hallway.  Wait near the brown bench. ",
+  "num_steps": 64,
+  "total_unique_objects": 14,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the stool in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        456
+      ],
+      "metadata": {
+        "probe_object_id": 456,
+        "probe_category": "stool",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_11",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 2,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -5.666749954223633,
+          0.441025972366333,
+          0.6949280500411987
+        ],
+        "agent_position_when_seen": [
+          -6.5017499923706055,
+          0.07537198066711426,
+          -0.04455700144171715
+        ],
+        "pixel_centroid_x": 213.28773418168964,
+        "normalized_position_x": 0.6663104232944503,
+        "object_pixel_count": 2829,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "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) lounge (B) kitchen (C) hallway",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "kitchen",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "lounge",
+          "kitchen",
+          "hallway"
+        ],
+        "query_timestep_internal": 48,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the picture to the left or right of the stool?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        456,
+        443
+      ],
+      "metadata": {
+        "object_A_id": 456,
+        "object_A_category": "stool",
+        "object_A_position": [
+          -5.666749954223633,
+          0.441025972366333,
+          0.6949280500411987
+        ],
+        "object_B_id": 443,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -8.40054988861084,
+          1.761009931564331,
+          3.6119601726531982
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -6.5017499923706055,
+          0.07537198066711426,
+          -0.04455700144171715
+        ],
+        "agent_rotation": [
+          -0.9670324325561523,
+          0.0,
+          -0.2546533942222595,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) porch/terrace/deck (B) lounge (C) kitchen",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_1",
+          "0_10",
+          "0_12",
+          "0_3",
+          "0_4",
+          "0_5",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_8",
+        "all_options": [
+          "porch/terrace/deck",
+          "lounge",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 27,
+      "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": 27,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) lounge (B) bathroom (C) hallway",
+    "answer": "C",
+    "options": [
+      "lounge",
+      "bathroom",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "lounge",
+        "bathroom",
+        "hallway"
+      ],
+      "query_timestep_internal": 49,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "hallway"
+      ]
+    }
+  }
+}

test/001030/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 1030,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ULsKaCPVFJR/ULsKaCPVFJR.glb",
+  "instruction": "InstructionData(instruction_text='Walk down hall past kitchen. Turn right at console table. Wait at the open front door. ', instruction_tokens=[2584, 780, 1121, 1728, 1306, 15, 2494, 1968, 178, 562, 2342, 15, 2579, 178, 2389, 1625, 1019, 757, 15])",
+  "instruction_text": "Walk down hall past kitchen. Turn right at console table. Wait at the open front door. ",
+  "num_steps": 44,
+  "total_unique_objects": 152,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 43,
+      "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": [
+        115
+      ],
+      "metadata": {
+        "probe_object_id": 115,
+        "probe_category": "shelving",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 28,
+        "num_sightings": 13,
+        "spatial_relation": "right",
+        "object_position": [
+          2.509700059890747,
+          1.6410799026489258,
+          0.904634952545166
+        ],
+        "agent_position_when_seen": [
+          1.836116075515747,
+          0.08356200158596039,
+          1.9098566770553589
+        ],
+        "pixel_centroid_x": 234.67435897435897,
+        "normalized_position_x": 0.8333934294871794,
+        "object_pixel_count": 390,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 44
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the objects before or after the cabinet?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        72,
+        66
+      ],
+      "metadata": {
+        "object_A_id": 72,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 6,
+        "object_B_id": 66,
+        "object_B_category": "objects",
+        "object_B_timestep": 9,
+        "time_gap": 3,
+        "asked_first_object_id": 66,
+        "asked_second_object_id": 72
+      }
+    },
+    {
+      "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) kitchen (B) bathroom (C) dining room",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "bathroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "bathroom",
+          "dining room"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        265,
+        72
+      ],
+      "metadata": {
+        "object_A_id": 265,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -3.2661399841308594,
+          0.541417121887207,
+          -3.384459972381592
+        ],
+        "object_B_id": 72,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -4.1219801902771,
+          1.1728801727294922,
+          4.4944000244140625
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          3.9238998889923096,
+          0.08356200158596039,
+          4.04433012008667
+        ],
+        "agent_rotation": [
+          -0.5233737826347351,
+          0.0,
+          -0.8521032333374023,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 39,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) tv (B) bathroom (C) junk",
+      "answer": "B",
+      "options": [
+        "tv",
+        "bathroom",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_12",
+          "0_13",
+          "0_14",
+          "0_15",
+          "0_16",
+          "0_17",
+          "0_4",
+          "0_6",
+          "0_8"
+        ],
+        "correct_answer_room": "0_15",
+        "all_options": [
+          "tv",
+          "bathroom",
+          "junk"
+        ],
+        "context_rooms": "hallway, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "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": 16,
+        "current_room": "kitchen",
+        "landmark_room": "hallway",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "kitchen",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 43,
+    "question": "Along your path, did you see the objects before or after the cabinet?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      72,
+      66
+    ],
+    "metadata": {
+      "object_A_id": 72,
+      "object_A_category": "cabinet",
+      "object_A_timestep": 6,
+      "object_B_id": 66,
+      "object_B_category": "objects",
+      "object_B_timestep": 9,
+      "time_gap": 3,
+      "asked_first_object_id": 66,
+      "asked_second_object_id": 72
+    }
+  }
+}

test/001042/meta.json

@@ -0,0 +1,243 @@
+{
+  "episode_id": 1042,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Walk to the potted plant next to the staircase.  Enter the room to the left of the potted plant. ', instruction_tokens=[2584, 2438, 2389, 1864, 1810, 1576, 2438, 2389, 2220, 15, 860, 2389, 1994, 2438, 2389, 1360, 1605, 2389, 1864, 1810, 15])",
+  "instruction_text": "Walk to the potted plant next to the staircase.  Enter the room to the left of the potted plant. ",
+  "num_steps": 33,
+  "total_unique_objects": 50,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 32,
+      "question": "Recall your earlier path. When you passed by the railing in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        211
+      ],
+      "metadata": {
+        "probe_object_id": 211,
+        "probe_category": "railing",
+        "probe_room": "stairs",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 3,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.5230600833892822,
+          1.8659398555755615,
+          0.1823580265045166
+        ],
+        "agent_position_when_seen": [
+          -5.337120056152344,
+          2.7910420894622803,
+          -5.204689979553223
+        ],
+        "pixel_centroid_x": 231.909509202454,
+        "normalized_position_x": 0.8117930406441718,
+        "object_pixel_count": 652,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 33
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 32,
+      "question": "Along your path, did you see the bed before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        77
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 77,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 6,
+        "asked_second_object_id": 77
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 19,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bedroom (C) stairs",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bedroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "bedroom",
+          "stairs"
+        ],
+        "query_timestep_internal": 19,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 27,
+      "question": "From your current viewpoint, is the chair to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        74,
+        73
+      ],
+      "metadata": {
+        "object_A_id": 74,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -1.7015000581741333,
+          -0.03469240665435791,
+          1.191999912261963
+        ],
+        "object_B_id": 73,
+        "object_B_category": "chair",
+        "object_B_position": [
+          0.08028998970985413,
+          0.09855496883392334,
+          1.250019907951355
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -1.8069604635238647,
+          2.7910420894622803,
+          -2.4640469551086426
+        ],
+        "agent_rotation": [
+          0.406933069229126,
+          0.0,
+          -0.9134579300880432,
+          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) living room (B) entryway/foyer/lobby (C) stairs",
+      "answer": "C",
+      "options": [
+        "living room",
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_5"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "living room",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "context_rooms": "hallway, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "question": "From your current position, will you pass through the other room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 6,
+        "current_room": "bathroom",
+        "landmark_room": "other room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "other room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 32,
+    "question": "Recall your earlier path. When you passed by the table in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      77
+    ],
+    "metadata": {
+      "probe_object_id": 77,
+      "probe_category": "table",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_4",
+      "first_seen_timestep": 9,
+      "best_view_timestep": 22,
+      "num_sightings": 17,
+      "spatial_relation": "right",
+      "object_position": [
+        0.48381999135017395,
+        0.038924455642700195,
+        0.6356309652328491
+      ],
+      "agent_position_when_seen": [
+        -2.401477336883545,
+        2.7910420894622803,
+        -2.9118542671203613
+      ],
+      "pixel_centroid_x": 129.33232628398792,
+      "normalized_position_x": 0.010408799093655663,
+      "object_pixel_count": 331,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 33
+    }
+  }
+}

test/001064/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 1064,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and exit the room, then walk down the hallway to your left. When you reach the end, go through the door on the right and stop. ', instruction_tokens=[2494, 1968, 119, 888, 2389, 1994, 2394, 2584, 780, 2389, 1126, 2438, 2706, 1360, 15, 2632, 2703, 1920, 2389, 851, 1067, 2418, 2389, 757, 1613, 2389, 1968, 119, 2278, 15])",
+  "instruction_text": "Turn right and exit the room, then walk down the hallway to your left. When you reach the end, go through the door on the right and stop. ",
+  "num_steps": 53,
+  "total_unique_objects": 152,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 52,
+      "question": "Recall your earlier path. When you passed by the chest_of_drawers in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        399
+      ],
+      "metadata": {
+        "probe_object_id": 399,
+        "probe_category": "chest_of_drawers",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_16",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 15,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          -10.803500175476074,
+          0.38860607147216797,
+          4.18936014175415
+        ],
+        "agent_position_when_seen": [
+          -10.030230522155762,
+          2.9162778854370117,
+          -2.5136349201202393
+        ],
+        "pixel_centroid_x": 241.59615384615384,
+        "normalized_position_x": 0.8874699519230769,
+        "object_pixel_count": 832,
+        "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 table before or after the furniture?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        128
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "furniture",
+        "object_A_timestep": 0,
+        "object_B_id": 128,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 128,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "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) hallway (B) familyroom/lounge (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "familyroom/lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "familyroom/lounge",
+          "kitchen"
+        ],
+        "query_timestep_internal": 26,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 40,
+      "question": "From your current viewpoint, is the objects to the left or right of the furniture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        207,
+        441
+      ],
+      "metadata": {
+        "object_A_id": 207,
+        "object_A_category": "furniture",
+        "object_A_position": [
+          -1.0099499225616455,
+          1.1151399612426758,
+          6.050650119781494
+        ],
+        "object_B_id": 441,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -5.552130222320557,
+          1.0597100257873535,
+          3.7803101539611816
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -6.0680742263793945,
+          2.9162778854370117,
+          -1.3056859970092773
+        ],
+        "agent_rotation": [
+          0.553278386592865,
+          0.0,
+          -0.8329964876174927,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 11,
+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) bedroom (B) bathroom (C) living room",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "bathroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_14",
+          "0_15",
+          "0_16",
+          "0_4"
+        ],
+        "correct_answer_room": "0_15",
+        "all_options": [
+          "bedroom",
+          "bathroom",
+          "living room"
+        ],
+        "context_rooms": "laundryroom/mudroom, dining room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 23,
+      "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": 23,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_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": "hallway",
+      "landmark_room": "familyroom/lounge",
+      "final_room": "bedroom",
+      "remaining_rooms": [
+        "hallway",
+        "bedroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bedroom",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

test/001102/meta.json

@@ -0,0 +1,252 @@
+{
+  "episode_id": 1102,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ULsKaCPVFJR/ULsKaCPVFJR.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn around and go down the hall, turn to the left and go down the hall, past the kitchen, and then turn to the right.  You'll be by the front door of the house.  Stay there and wait. \", instruction_tokens=[2494, 159, 119, 1067, 780, 2389, 1121, 2494, 2438, 2389, 1360, 119, 1067, 780, 2389, 1121, 1728, 2389, 1306, 119, 2394, 2494, 2438, 2389, 1968, 15, 2703, 9, 1406, 252, 404, 2389, 1019, 757, 1605, 2389, 1213, 15, 2256, 2395, 119, 2579, 15])",
+  "instruction_text": "Turn around and go down the hall, turn to the left and go down the hall, past the kitchen, and then turn to the right.  You'll be by the front door of the house.  Stay there and wait. ",
+  "num_steps": 52,
+  "total_unique_objects": 234,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 51,
+      "question": "Recall your earlier path. When you passed by the stool in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        131
+      ],
+      "metadata": {
+        "probe_object_id": 131,
+        "probe_category": "stool",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 19,
+        "num_sightings": 8,
+        "spatial_relation": "right",
+        "object_position": [
+          6.4269700050354,
+          0.36319494247436523,
+          2.8470799922943115
+        ],
+        "agent_position_when_seen": [
+          3.262338161468506,
+          0.08356200158596039,
+          3.695068836212158
+        ],
+        "pixel_centroid_x": 236.78041543026706,
+        "normalized_position_x": 0.8498469955489614,
+        "object_pixel_count": 337,
+        "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 lighting before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        18,
+        9
+      ],
+      "metadata": {
+        "object_A_id": 18,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 9,
+        "object_B_category": "lighting",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 9,
+        "asked_second_object_id": 18
+      }
+    },
+    {
+      "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) tv (B) junk (C) hallway",
+      "answer": "C",
+      "options": [
+        "tv",
+        "junk",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "tv",
+          "junk",
+          "hallway"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 14,
+      "question": "From your current viewpoint, is the picture to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        77,
+        63
+      ],
+      "metadata": {
+        "object_A_id": 77,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          2.0178000926971436,
+          1.0900599956512451,
+          4.6291399002075195
+        ],
+        "object_B_id": 63,
+        "object_B_category": "picture",
+        "object_B_position": [
+          2.0560998916625977,
+          2.283289909362793,
+          -0.5943479537963867
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          2.9879555702209473,
+          0.08356200158596039,
+          4.650022506713867
+        ],
+        "agent_rotation": [
+          -0.9717620015144348,
+          0.0,
+          0.23596340417861938,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) tv (B) closet (C) office",
+      "answer": "B",
+      "options": [
+        "tv",
+        "closet",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_24",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_15",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_11",
+        "all_options": [
+          "tv",
+          "closet",
+          "office"
+        ],
+        "context_rooms": "hallway, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "question": "From your current position, will you pass through the toilet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 8,
+        "current_room": "hallway",
+        "landmark_room": "toilet",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "hallway",
+          "bathroom",
+          "hallway",
+          "kitchen",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 35,
+    "question": "From your current viewpoint, is the appliances to the left or right of the table?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      242,
+      107
+    ],
+    "metadata": {
+      "object_A_id": 242,
+      "object_A_category": "table",
+      "object_A_position": [
+        0.23693598806858063,
+        0.42065495252609253,
+        0.976161003112793
+      ],
+      "object_B_id": 107,
+      "object_B_category": "appliances",
+      "object_B_position": [
+        3.346139907836914,
+        1.194960117340088,
+        0.17878198623657227
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        1.7712900638580322,
+        0.08356200158596039,
+        1.7320843935012817
+      ],
+      "agent_rotation": [
+        -0.9880902767181396,
+        0.0,
+        -0.1538754105567932,
+        0.0
+      ]
+    }
+  }
+}

test/001105/meta.json

@@ -0,0 +1,226 @@
+{
+  "episode_id": 1105,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway by the banister. Make a right into the hallway with the feather art. Make a right into the bathroom with the chevron art. ', instruction_tokens=[2584, 780, 2389, 1126, 404, 2389, 211, 15, 1446, 73, 1968, 1264, 2389, 1126, 2661, 2389, 919, 165, 15, 1446, 73, 1968, 1264, 2389, 242, 2661, 2389, 483, 165, 15])",
+  "instruction_text": "Walk down the hallway by the banister. Make a right into the hallway with the feather art. Make a right into the bathroom with the chevron art. ",
+  "num_steps": 56,
+  "total_unique_objects": 431,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 55,
+      "question": "Recall your earlier path. When you passed by the column in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        575
+      ],
+      "metadata": {
+        "probe_object_id": 575,
+        "probe_category": "column",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_15",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 1,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          19.42930030822754,
+          1.1733593940734863,
+          6.445959568023682
+        ],
+        "agent_position_when_seen": [
+          8.097990036010742,
+          3.514145851135254,
+          2.1922199726104736
+        ],
+        "pixel_centroid_x": 40.633663366336634,
+        "normalized_position_x": -0.682549504950495,
+        "object_pixel_count": 101,
+        "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 curtain before or after the plant?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        502,
+        859
+      ],
+      "metadata": {
+        "object_A_id": 502,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 859,
+        "object_B_category": "plant",
+        "object_B_timestep": 44,
+        "time_gap": 44,
+        "asked_first_object_id": 502,
+        "asked_second_object_id": 859
+      }
+    },
+    {
+      "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) bedroom (B) porch/terrace/deck (C) hallway",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "porch/terrace/deck",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bedroom",
+          "porch/terrace/deck",
+          "hallway"
+        ],
+        "query_timestep_internal": 33,
+        "rooms_visited": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 54,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the chair?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        518,
+        420
+      ],
+      "metadata": {
+        "object_A_id": 518,
+        "object_A_category": "chair",
+        "object_A_position": [
+          10.614299774169922,
+          0.38234424591064453,
+          9.846019744873047
+        ],
+        "object_B_id": 420,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          6.247660160064697,
+          1.8901586532592773,
+          12.713099479675293
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          6.4700469970703125,
+          3.514145851135254,
+          6.951167583465576
+        ],
+        "agent_rotation": [
+          -0.9961134195327759,
+          0.0,
+          -0.08808008581399918,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 50,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) porch/terrace/deck (B) lounge (C) bedroom",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "lounge",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_8",
+        "adjacent_rooms": [
+          "1_21",
+          "1_6",
+          "1_9"
+        ],
+        "correct_answer_room": "1_6",
+        "all_options": [
+          "porch/terrace/deck",
+          "lounge",
+          "bedroom"
+        ],
+        "context_rooms": "hallway, familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "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": 3,
+        "current_room": "hallway",
+        "landmark_room": "kitchen",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 0,
+    "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) bedroom (B) office (C) porch/terrace/deck",
+    "answer": "A",
+    "options": [
+      "bedroom",
+      "office",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_9",
+      "adjacent_rooms": [
+        "1_21",
+        "1_8"
+      ],
+      "correct_answer_room": "1_8",
+      "all_options": [
+        "bedroom",
+        "office",
+        "porch/terrace/deck"
+      ],
+      "context_rooms": "hallway"
+    }
+  }
+}

test/001109/meta.json

@@ -0,0 +1,202 @@
+{
+  "episode_id": 1109,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward out of the bathroom into the hallway. In the hallway take a right and walk past the living room. Once past the living room take a left at the stairs. Go up the stairs and stop on the third step from the bottom. ', instruction_tokens=[2584, 993, 1658, 1605, 2389, 242, 1264, 2389, 1126, 15, 1237, 2389, 1126, 2352, 73, 1968, 119, 2584, 1728, 2389, 1404, 1994, 15, 1615, 1728, 2389, 1404, 1994, 2352, 73, 1360, 178, 2389, 2222, 15, 1067, 2527, 2389, 2222, 119, 2278, 1613, 2389, 2404, 2260, 1017, 2389, 348, 15])",
+  "instruction_text": "Walk forward out of the bathroom into the hallway. In the hallway take a right and walk past the living room. Once past the living room take a left at the stairs. Go up the stairs and stop on the third step from the bottom. ",
+  "num_steps": 38,
+  "total_unique_objects": 73,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 37,
+      "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": [
+        150
+      ],
+      "metadata": {
+        "probe_object_id": 150,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 22,
+        "best_view_timestep": 23,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -4.388490200042725,
+          -2.4423999786376953,
+          -1.7252998352050781
+        ],
+        "agent_position_when_seen": [
+          -2.230393648147583,
+          -3.240571975708008,
+          0.30289924144744873
+        ],
+        "pixel_centroid_x": 248.07033997655333,
+        "normalized_position_x": 0.9380495310668229,
+        "object_pixel_count": 853,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 38
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 37,
+      "question": "Along your path, did you see the  before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        391,
+        70
+      ],
+      "metadata": {
+        "object_A_id": 391,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 70,
+        "object_B_category": "",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 70,
+        "asked_second_object_id": 391
+      }
+    },
+    {
+      "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) lounge (B) hallway (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "hallway",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "lounge",
+          "hallway",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 24,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) hallway (B) living room (C) balcony",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "living room",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_4",
+          "0_6"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "hallway",
+          "living room",
+          "balcony"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "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": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 10,
+    "question": "From your current viewpoint, is the railing to the left or right of the stairs?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      182,
+      414
+    ],
+    "metadata": {
+      "object_A_id": 182,
+      "object_A_category": "stairs",
+      "object_A_position": [
+        -0.09195089340209961,
+        -1.6656301021575928,
+        0.9521209001541138
+      ],
+      "object_B_id": 414,
+      "object_B_category": "railing",
+      "object_B_position": [
+        -1.5429600477218628,
+        0.6398789882659912,
+        1.041179895401001
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -2.3386406898498535,
+        -3.240571975708008,
+        -1.6781089305877686
+      ],
+      "agent_rotation": [
+        0.36254191398620605,
+        0.0,
+        -0.9319674968719482,
+        0.0
+      ]
+    }
+  }
+}

test/001147/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 1147,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
+  "instruction": "InstructionData(instruction_text='Go up the step.Take a left to the left of the table. Go towards couch and stop. ', instruction_tokens=[1067, 2527, 2389, 2260, 15, 2352, 73, 1360, 2438, 2389, 1360, 1605, 2389, 2342, 15, 1067, 2452, 593, 119, 2278, 15])",
+  "instruction_text": "Go up the step.Take a left to the left of the table. Go towards couch and stop. ",
+  "num_steps": 83,
+  "total_unique_objects": 152,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 82,
+      "question": "Recall your earlier path. When you passed by the picture in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        435
+      ],
+      "metadata": {
+        "probe_object_id": 435,
+        "probe_category": "picture",
+        "probe_room": "hallway",
+        "probe_region_id": "1_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          1.9465899467468262,
+          1.6664698123931885,
+          -2.668329954147339
+        ],
+        "agent_position_when_seen": [
+          6.165460109710693,
+          -0.5069980621337891,
+          -1.9156099557876587
+        ],
+        "pixel_centroid_x": 59.948502994011974,
+        "normalized_position_x": -0.5316523203592814,
+        "object_pixel_count": 835,
+        "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 shelving before or after the chest_of_drawers?",
+      "answer": "after",
+      "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": 389,
+        "asked_second_object_id": 425
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 57,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) bathroom (C) dining room",
+      "answer": "C",
+      "options": [
+        "office",
+        "bathroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "office",
+          "bathroom",
+          "dining room"
+        ],
+        "query_timestep_internal": 57,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 9,
+      "question": "From your current viewpoint, is the table to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        398,
+        499
+      ],
+      "metadata": {
+        "object_A_id": 398,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          16.281600952148438,
+          1.5818099975585938,
+          2.372339963912964
+        ],
+        "object_B_id": 499,
+        "object_B_category": "table",
+        "object_B_position": [
+          11.048299789428711,
+          0.5513269901275635,
+          0.530540943145752
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          6.165460109710693,
+          -0.5069980621337891,
+          -1.9156099557876587
+        ],
+        "agent_rotation": [
+          0.8863934874534607,
+          0.0,
+          -0.4629327058792114,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 36,
+      "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) entryway/foyer/lobby (C) other room",
+      "answer": "A",
+      "options": [
+        "living room",
+        "entryway/foyer/lobby",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_14",
+        "adjacent_rooms": [
+          "1_0",
+          "1_10",
+          "1_11",
+          "1_12",
+          "1_13",
+          "1_2",
+          "1_24",
+          "1_7"
+        ],
+        "correct_answer_room": "1_11",
+        "all_options": [
+          "living room",
+          "entryway/foyer/lobby",
+          "other room"
+        ],
+        "context_rooms": "dining room, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 28,
+      "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": 28,
+        "current_room": "hallway",
+        "landmark_room": "stairs",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "hallway",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 82,
+    "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
+    }
+  }
+}

test/001173/meta.json

@@ -0,0 +1,168 @@
+{
+  "episode_id": 1173,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Turn and walk into the living room area with burgundy couches. Walk passed the couches towards the fireplace. Go through the doorway on the right on the opposite side of the room and into the dining area. ', instruction_tokens=[2494, 119, 2584, 1264, 2389, 1404, 1994, 150, 2661, 391, 595, 15, 2584, 1725, 2389, 595, 2452, 2389, 942, 15, 1067, 2418, 2389, 766, 1613, 2389, 1968, 1613, 2389, 1634, 2121, 1605, 2389, 1994, 119, 1264, 2389, 711, 150, 15])",
+  "instruction_text": "Turn and walk into the living room area with burgundy couches. Walk passed the couches towards the fireplace. Go through the doorway on the right on the opposite side of the room and into the dining area. ",
+  "num_steps": 50,
+  "total_unique_objects": 105,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the objects in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        171
+      ],
+      "metadata": {
+        "probe_object_id": 171,
+        "probe_category": "objects",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_8",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 3,
+        "num_sightings": 5,
+        "spatial_relation": "left",
+        "object_position": [
+          -5.428840160369873,
+          5.090939521789551,
+          1.986710548400879
+        ],
+        "agent_position_when_seen": [
+          -6.296319961547852,
+          0.11627800017595291,
+          -3.1083199977874756
+        ],
+        "pixel_centroid_x": 28.66679984019177,
+        "normalized_position_x": -0.7760406262485018,
+        "object_pixel_count": 2503,
+        "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 bed before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        163,
+        128
+      ],
+      "metadata": {
+        "object_A_id": 163,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 128,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 163,
+        "asked_second_object_id": 128
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 23,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) living room (C) hallway",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "living room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "stairs",
+          "living room",
+          "hallway"
+        ],
+        "query_timestep_internal": 23,
+        "rooms_visited": [
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 26,
+      "question": "From your current viewpoint, is the bed to the left or right of the cushion?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        129,
+        120
+      ],
+      "metadata": {
+        "object_A_id": 129,
+        "object_A_category": "cushion",
+        "object_A_position": [
+          -1.429550051689148,
+          3.5917797088623047,
+          0.4617314338684082
+        ],
+        "object_B_id": 120,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -1.1579599380493164,
+          3.291229724884033,
+          -0.21461868286132812
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -3.2180299758911133,
+          0.11627800017595291,
+          -3.8970470428466797
+        ],
+        "agent_rotation": [
+          -0.7948054075241089,
+          0.0,
+          0.6068644523620605,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 49,
+    "question": "Along your path, did you see the table before or after the bed?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      163,
+      128
+    ],
+    "metadata": {
+      "object_A_id": 163,
+      "object_A_category": "bed",
+      "object_A_timestep": 0,
+      "object_B_id": 128,
+      "object_B_category": "table",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 128,
+      "asked_second_object_id": 163
+    }
+  }
+}

test/001184/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 1184,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/s8pcmisQ38h/s8pcmisQ38h.glb",
+  "instruction": "InstructionData(instruction_text='Go through the door to the hall. Turn left and cross over the glass floor to the small hallway. Go to the doorway of the room on the left. ', instruction_tokens=[1067, 2418, 2389, 757, 2438, 2389, 1121, 15, 2494, 1360, 119, 627, 1669, 2389, 1057, 959, 2438, 2389, 2170, 1126, 15, 1067, 2438, 2389, 766, 1605, 2389, 1994, 1613, 2389, 1360, 15])",
+  "instruction_text": "Go through the door to the hall. Turn left and cross over the glass floor to the small hallway. Go to the doorway of the room on the left. ",
+  "num_steps": 77,
+  "total_unique_objects": 104,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 76,
+      "question": "Recall your earlier path. When you passed by the cabinet in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        62
+      ],
+      "metadata": {
+        "probe_object_id": 62,
+        "probe_category": "cabinet",
+        "probe_room": "living room",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 30,
+        "best_view_timestep": 43,
+        "num_sightings": 21,
+        "spatial_relation": "left",
+        "object_position": [
+          13.877400398254395,
+          0.4153480529785156,
+          3.1143200397491455
+        ],
+        "agent_position_when_seen": [
+          11.64199161529541,
+          3.0383260250091553,
+          0.881065845489502
+        ],
+        "pixel_centroid_x": 45.954703832752614,
+        "normalized_position_x": -0.6409788763066202,
+        "object_pixel_count": 861,
+        "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 objects before or after the chair?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        18,
+        247
+      ],
+      "metadata": {
+        "object_A_id": 18,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 247,
+        "object_B_category": "objects",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 247,
+        "asked_second_object_id": 18
+      }
+    },
+    {
+      "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) bathroom (B) lounge (C) kitchen",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "bathroom",
+          "lounge",
+          "kitchen"
+        ],
+        "query_timestep_internal": 33,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 38,
+      "question": "From your current viewpoint, is the fireplace to the left or right of the chair?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        2,
+        4
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "chair",
+        "object_A_position": [
+          15.531499862670898,
+          -2.7496097087860107,
+          0.2773706912994385
+        ],
+        "object_B_id": 4,
+        "object_B_category": "fireplace",
+        "object_B_position": [
+          20.36440086364746,
+          -2.513360023498535,
+          0.04684019088745117
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          10.65064525604248,
+          3.0383260250091553,
+          0.867077112197876
+        ],
+        "agent_rotation": [
+          0.6540253162384033,
+          0.0,
+          -0.7564727067947388,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) entryway/foyer/lobby (B) hallway (C) lounge",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_10",
+        "adjacent_rooms": [
+          "2_11",
+          "2_12",
+          "2_14",
+          "2_9"
+        ],
+        "correct_answer_room": "2_14",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "lounge"
+        ],
+        "context_rooms": "bathroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "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": 11,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "lounge",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 76,
+    "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": [
+      18,
+      247
+    ],
+    "metadata": {
+      "object_A_id": 18,
+      "object_A_category": "chair",
+      "object_A_timestep": 0,
+      "object_B_id": 247,
+      "object_B_category": "objects",
+      "object_B_timestep": 5,
+      "time_gap": 5,
+      "asked_first_object_id": 18,
+      "asked_second_object_id": 247
+    }
+  }
+}

test/001208/meta.json

@@ -0,0 +1,248 @@
+{
+  "episode_id": 1208,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/vyrNrziPKCB/vyrNrziPKCB.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the theater and take a left. walk into the room straight ahead and go into the fitness room. Take a left and stop in the doorway to the patio. ', instruction_tokens=[2584, 1658, 1605, 2389, 2390, 119, 2352, 73, 1360, 15, 2584, 1264, 2389, 1994, 2288, 98, 119, 1067, 1264, 2389, 949, 1994, 15, 2352, 73, 1360, 119, 2278, 1237, 2389, 766, 2438, 2389, 1737, 15])",
+  "instruction_text": "Walk out of the theater and take a left. walk into the room straight ahead and go into the fitness room. Take a left and stop in the doorway to the patio. ",
+  "num_steps": 74,
+  "total_unique_objects": 993,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "question": "Recall your earlier path. When you passed by the cabinet in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        936
+      ],
+      "metadata": {
+        "probe_object_id": 936,
+        "probe_category": "cabinet",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_33",
+        "first_seen_timestep": 10,
+        "best_view_timestep": 11,
+        "num_sightings": 10,
+        "spatial_relation": "right",
+        "object_position": [
+          23.926599502563477,
+          0.4173097610473633,
+          14.660799026489258
+        ],
+        "agent_position_when_seen": [
+          10.459699630737305,
+          0.10085227340459824,
+          21.062000274658203
+        ],
+        "pixel_centroid_x": 251.9873417721519,
+        "normalized_position_x": 0.9686511075949367,
+        "object_pixel_count": 158,
+        "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 railing?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        19,
+        100
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "",
+        "object_A_timestep": 4,
+        "object_B_id": 100,
+        "object_B_category": "railing",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 19,
+        "asked_second_object_id": 100
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 46,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) dining room (C) living room",
+      "answer": "C",
+      "options": [
+        "closet",
+        "dining room",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "closet",
+          "dining room",
+          "living room"
+        ],
+        "query_timestep_internal": 46,
+        "rooms_visited": [
+          "hallway",
+          "living room",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 17,
+      "question": "From your current viewpoint, is the lighting to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        795,
+        688
+      ],
+      "metadata": {
+        "object_A_id": 795,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          -5.3649702072143555,
+          1.445359230041504,
+          13.29379940032959
+        ],
+        "object_B_id": 688,
+        "object_B_category": "lighting",
+        "object_B_position": [
+          -5.535309791564941,
+          3.2669105529785156,
+          22.952199935913086
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          10.460125923156738,
+          0.1107708215713501,
+          19.81883430480957
+        ],
+        "agent_rotation": [
+          0.999656617641449,
+          0.0,
+          -0.026203718036413193,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "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) familyroom/lounge (C) workout/gym/exercise",
+      "answer": "A",
+      "options": [
+        "rec/game",
+        "familyroom/lounge",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_21",
+        "adjacent_rooms": [
+          "0_14",
+          "0_16",
+          "0_19",
+          "0_20",
+          "0_33",
+          "0_34",
+          "0_35",
+          "0_53"
+        ],
+        "correct_answer_room": "0_19",
+        "all_options": [
+          "rec/game",
+          "familyroom/lounge",
+          "workout/gym/exercise"
+        ],
+        "context_rooms": "bedroom, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 17,
+      "question": "From your current position, will you pass through the tv on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 17,
+        "current_room": "hallway",
+        "landmark_room": "tv",
+        "final_room": "workout/gym/exercise",
+        "remaining_rooms": [
+          "hallway",
+          "living room",
+          "workout/gym/exercise"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "living room",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 73,
+    "question": "Recall your earlier path. When you passed by the cabinet in the porch/terrace/deck, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      936
+    ],
+    "metadata": {
+      "probe_object_id": 936,
+      "probe_category": "cabinet",
+      "probe_room": "porch/terrace/deck",
+      "probe_region_id": "0_33",
+      "first_seen_timestep": 10,
+      "best_view_timestep": 11,
+      "num_sightings": 10,
+      "spatial_relation": "right",
+      "object_position": [
+        23.926599502563477,
+        0.4173097610473633,
+        14.660799026489258
+      ],
+      "agent_position_when_seen": [
+        10.459699630737305,
+        0.10085227340459824,
+        21.062000274658203
+      ],
+      "pixel_centroid_x": 251.9873417721519,
+      "normalized_position_x": 0.9686511075949367,
+      "object_pixel_count": 158,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 74
+    }
+  }
+}

test/001273/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 1273,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight down the hallway passing a love seat on your right. Turn right at the first doorway after you pass a large mirror on the left. Enter the doorway then wait. ', instruction_tokens=[2584, 2288, 780, 2389, 1126, 1727, 73, 1430, 2050, 1613, 2706, 1968, 15, 2494, 1968, 178, 2389, 946, 766, 94, 2703, 1721, 73, 1336, 1515, 1613, 2389, 1360, 15, 860, 2389, 766, 2394, 2579, 15])",
+  "instruction_text": "Walk straight down the hallway passing a love seat on your right. Turn right at the first doorway after you pass a large mirror on the left. Enter the doorway then wait. ",
+  "num_steps": 67,
+  "total_unique_objects": 500,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 66,
+      "question": "Recall your earlier path. When you passed by the table in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        655
+      ],
+      "metadata": {
+        "probe_object_id": 655,
+        "probe_category": "table",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "1_31",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 8,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          -4.526909828186035,
+          0.4465475082397461,
+          -14.34329891204834
+        ],
+        "agent_position_when_seen": [
+          8.605496406555176,
+          0.16192755103111267,
+          -16.307214736938477
+        ],
+        "pixel_centroid_x": 212.66666666666666,
+        "normalized_position_x": 0.6614583333333333,
+        "object_pixel_count": 102,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 67
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 66,
+      "question": "Along your path, did you see the  before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        34,
+        141
+      ],
+      "metadata": {
+        "object_A_id": 34,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 141,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 34,
+        "asked_second_object_id": 141
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 64,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) hallway (C) toilet",
+      "answer": "B",
+      "options": [
+        "other room",
+        "hallway",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "hallway",
+          "toilet"
+        ],
+        "query_timestep_internal": 64,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 21,
+      "question": "From your current viewpoint, is the table to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        720,
+        476
+      ],
+      "metadata": {
+        "object_A_id": 720,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          12.063899993896484,
+          1.404590129852295,
+          5.188690185546875
+        ],
+        "object_B_id": 476,
+        "object_B_category": "table",
+        "object_B_position": [
+          3.9638099670410156,
+          0.5167512893676758,
+          -4.319319725036621
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          8.70050048828125,
+          0.011268138885498047,
+          -13.582204818725586
+        ],
+        "agent_rotation": [
+          -0.05398283898830414,
+          0.0,
+          -0.9985418915748596,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 15,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) other room (B) garage (C) kitchen",
+      "answer": "C",
+      "options": [
+        "other room",
+        "garage",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_26",
+        "adjacent_rooms": [
+          "1_20",
+          "1_21",
+          "1_23",
+          "1_25",
+          "1_29",
+          "1_34",
+          "1_7",
+          "1_8"
+        ],
+        "correct_answer_room": "1_23",
+        "all_options": [
+          "other room",
+          "garage",
+          "kitchen"
+        ],
+        "context_rooms": "entryway/foyer/lobby, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "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": 3,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 28,
+    "question": "Based on your exploration and knowledge of the environment, which area is the rec/game you see now directly connected to? (A) toilet (B) bathroom (C) other room",
+    "answer": "C",
+    "options": [
+      "toilet",
+      "bathroom",
+      "other room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_0",
+      "adjacent_rooms": [
+        "0_1",
+        "0_4",
+        "0_5",
+        "0_6"
+      ],
+      "correct_answer_room": "0_4",
+      "all_options": [
+        "toilet",
+        "bathroom",
+        "other room"
+      ],
+      "context_rooms": "garage, hallway"
+    }
+  }
+}

test/001279/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 1279,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway past the stairs towards the bedroom. Stop and wait just before crossing into the next room. ', instruction_tokens=[2584, 780, 2389, 1126, 1728, 2389, 2222, 2452, 2389, 273, 15, 2278, 119, 2579, 1293, 281, 631, 1264, 2389, 1576, 1994, 15])",
+  "instruction_text": "Walk down the hallway past the stairs towards the bedroom. Stop and wait just before crossing into the next room. ",
+  "num_steps": 29,
+  "total_unique_objects": 136,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 28,
+      "question": "Recall your earlier path. When you passed by the counter in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        155
+      ],
+      "metadata": {
+        "probe_object_id": 155,
+        "probe_category": "counter",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_7",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 23,
+        "num_sightings": 22,
+        "spatial_relation": "right",
+        "object_position": [
+          17.02440071105957,
+          1.1314198970794678,
+          1.9375697374343872
+        ],
+        "agent_position_when_seen": [
+          14.742798805236816,
+          0.09874949604272842,
+          -2.630765438079834
+        ],
+        "pixel_centroid_x": 205.8787090057262,
+        "normalized_position_x": 0.6084274141072359,
+        "object_pixel_count": 5763,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 29
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 28,
+      "question": "Along your path, did you see the counter before or after the toilet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        8,
+        123
+      ],
+      "metadata": {
+        "object_A_id": 8,
+        "object_A_category": "counter",
+        "object_A_timestep": 0,
+        "object_B_id": 123,
+        "object_B_category": "toilet",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 8,
+        "asked_second_object_id": 123
+      }
+    },
+    {
+      "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) hallway (B) other room (C) closet",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "other room",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "other room",
+          "closet"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the shelving to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        236,
+        149
+      ],
+      "metadata": {
+        "object_A_id": 236,
+        "object_A_category": "bed",
+        "object_A_position": [
+          20.81559944152832,
+          0.8072903156280518,
+          -3.0968997478485107
+        ],
+        "object_B_id": 149,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          14.581500053405762,
+          0.5502890348434448,
+          -0.017759084701538086
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          12.759995460510254,
+          0.003425121307373047,
+          -2.6492562294006348
+        ],
+        "agent_rotation": [
+          -0.6558331251144409,
+          0.0,
+          0.7549059391021729,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 23,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) hallway (C) dining room",
+    "answer": "B",
+    "options": [
+      "familyroom/lounge",
+      "hallway",
+      "dining room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "familyroom/lounge",
+        "hallway",
+        "dining room"
+      ],
+      "query_timestep_internal": 23,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

test/001292/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 1292,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='walk out of the pump room to the main hall. Turn slight left to the empty room, turn more left and enter the room. Stop right when you get in it and face the window. ', instruction_tokens=[2584, 1658, 1605, 2389, 1889, 1994, 2438, 2389, 1445, 1121, 15, 2494, 2162, 1360, 2438, 2389, 843, 1994, 2494, 1528, 1360, 119, 860, 2389, 1994, 15, 2278, 1968, 2632, 2703, 1046, 1237, 1272, 119, 903, 2389, 2652, 15])",
+  "instruction_text": "walk out of the pump room to the main hall. Turn slight left to the empty room, turn more left and enter the room. Stop right when you get in it and face the window. ",
+  "num_steps": 38,
+  "total_unique_objects": 92,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 37,
+      "question": "Recall your earlier path. When you passed by the railing in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        211
+      ],
+      "metadata": {
+        "probe_object_id": 211,
+        "probe_category": "railing",
+        "probe_room": "stairs",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 20,
+        "num_sightings": 21,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.5230600833892822,
+          1.8659398555755615,
+          0.1823580265045166
+        ],
+        "agent_position_when_seen": [
+          -3.3818039894104004,
+          -0.2089579850435257,
+          -4.991198539733887
+        ],
+        "pixel_centroid_x": 212.04248088360237,
+        "normalized_position_x": 0.6565818819031435,
+        "object_pixel_count": 1177,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 38
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 37,
+      "question": "Along your path, did you see the bed before or after the chest_of_drawers?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        5
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 5,
+        "object_B_category": "chest_of_drawers",
+        "object_B_timestep": 25,
+        "time_gap": 25,
+        "asked_first_object_id": 6,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "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) stairs (B) utilityroom/toolroom (C) living room",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "utilityroom/toolroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "utilityroom/toolroom",
+        "all_options": [
+          "stairs",
+          "utilityroom/toolroom",
+          "living room"
+        ],
+        "query_timestep_internal": 17,
+        "rooms_visited": [
+          "hallway",
+          "utilityroom/toolroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the railing to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        6,
+        211
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -0.6771500110626221,
+          3.0690300464630127,
+          0.8014140129089355
+        ],
+        "object_B_id": 211,
+        "object_B_category": "railing",
+        "object_B_position": [
+          -3.5230600833892822,
+          1.8659398555755615,
+          0.1823580265045166
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -3.634617328643799,
+          -0.2089579850435257,
+          -5.958714485168457
+        ],
+        "agent_rotation": [
+          0.12744571268558502,
+          0.0,
+          -0.9918455481529236,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 26,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) hallway (B) entryway/foyer/lobby (C) stairs",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_1",
+        "adjacent_rooms": [
+          "1_0",
+          "1_13",
+          "1_2",
+          "1_3"
+        ],
+        "correct_answer_room": "1_13",
+        "all_options": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "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": 5,
+        "current_room": "utilityroom/toolroom",
+        "landmark_room": "kitchen",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "utilityroom/toolroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "utilityroom/toolroom"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "utilityroom/toolroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 37,
+    "question": "Along your path, did you see the chest_of_drawers before or after the bed?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      6,
+      5
+    ],
+    "metadata": {
+      "object_A_id": 6,
+      "object_A_category": "bed",
+      "object_A_timestep": 0,
+      "object_B_id": 5,
+      "object_B_category": "chest_of_drawers",
+      "object_B_timestep": 25,
+      "time_gap": 25,
+      "asked_first_object_id": 5,
+      "asked_second_object_id": 6
+    }
+  }
+}

test/001302/meta.json

@@ -0,0 +1,190 @@
+{
+  "episode_id": 1302,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the bathroom, turn left, and wait at the bottom of the stairs. ', instruction_tokens=[2584, 1658, 1605, 2389, 242, 2494, 1360, 119, 2579, 178, 2389, 348, 1605, 2389, 2222, 15])",
+  "instruction_text": "Walk out of the bathroom, turn left, and wait at the bottom of the stairs. ",
+  "num_steps": 56,
+  "total_unique_objects": 72,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 55,
+      "question": "Along your path, did you see the stairs before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        26,
+        288
+      ],
+      "metadata": {
+        "object_A_id": 26,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 288,
+        "object_B_category": "stairs",
+        "object_B_timestep": 15,
+        "time_gap": 15,
+        "asked_first_object_id": 288,
+        "asked_second_object_id": 26
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 11,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) hallway (C) bathroom",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "hallway",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "porch/terrace/deck",
+          "hallway",
+          "bathroom"
+        ],
+        "query_timestep_internal": 11,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the chair to the left or right of the objects?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        458,
+        459
+      ],
+      "metadata": {
+        "object_A_id": 458,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -1.8513400554656982,
+          0.62260901927948,
+          -0.8478590250015259
+        ],
+        "object_B_id": 459,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -2.652129888534546,
+          0.48774051666259766,
+          5.97598934173584
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -8.518356323242188,
+          0.07537198066711426,
+          0.8264237642288208
+        ],
+        "agent_rotation": [
+          -0.881903350353241,
+          0.0,
+          0.47143030166625977,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 22,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) stairs (B) lounge (C) kitchen",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_13",
+          "0_3",
+          "0_7",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_8",
+        "all_options": [
+          "stairs",
+          "lounge",
+          "kitchen"
+        ],
+        "context_rooms": "entryway/foyer/lobby, porch/terrace/deck"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "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": 8,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 55,
+    "question": "Along your path, did you see the  before or after the stairs?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      26,
+      288
+    ],
+    "metadata": {
+      "object_A_id": 26,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 288,
+      "object_B_category": "stairs",
+      "object_B_timestep": 15,
+      "time_gap": 15,
+      "asked_first_object_id": 26,
+      "asked_second_object_id": 288
+    }
+  }
+}

test/001319/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 1319,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='walk forward into the large room. Turn left and walk past the plywood cabinet. Walk straight past the desks. Turn left and stop in front of the hammock. ', instruction_tokens=[2584, 993, 1264, 2389, 1336, 1994, 15, 2494, 1360, 119, 2584, 1728, 2389, 1830, 408, 15, 2584, 2288, 1728, 2389, 693, 15, 2494, 1360, 119, 2278, 1237, 1019, 1605, 2389, 1132, 15])",
+  "instruction_text": "walk forward into the large room. Turn left and walk past the plywood cabinet. Walk straight past the desks. Turn left and stop in front of 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 lighting in the lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        304
+      ],
+      "metadata": {
+        "probe_object_id": 304,
+        "probe_category": "lighting",
+        "probe_room": "lounge",
+        "probe_region_id": "1_13",
+        "first_seen_timestep": 33,
+        "best_view_timestep": 33,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          20.141000747680664,
+          1.0283904075622559,
+          -4.283729553222656
+        ],
+        "agent_position_when_seen": [
+          13.703283309936523,
+          0.09357202053070068,
+          -3.1156165599823
+        ],
+        "pixel_centroid_x": 179.66666666666666,
+        "normalized_position_x": 0.40364583333333326,
+        "object_pixel_count": 117,
+        "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": 39,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) office (C) meetingroom/conferenceroom",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "office",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "porch/terrace/deck",
+          "office",
+          "meetingroom/conferenceroom"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "hallway",
+          "lounge",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 26,
+      "question": "From your current viewpoint, is the table to the left or right of the railing?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        244,
+        312
+      ],
+      "metadata": {
+        "object_A_id": 244,
+        "object_A_category": "railing",
+        "object_A_position": [
+          19.03059959411621,
+          3.5092406272888184,
+          -2.585739850997925
+        ],
+        "object_B_id": 312,
+        "object_B_category": "table",
+        "object_B_position": [
+          15.885799407958984,
+          0.5538729429244995,
+          -1.9050297737121582
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          12.742524147033691,
+          0.09357202053070068,
+          -3.3689193725585938
+        ],
+        "agent_rotation": [
+          0.6358359456062317,
+          0.0,
+          -0.771824300289154,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) meetingroom/conferenceroom (B) closet (C) stairs",
+      "answer": "A",
+      "options": [
+        "meetingroom/conferenceroom",
+        "closet",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_14",
+        "adjacent_rooms": [
+          "1_10",
+          "1_11",
+          "1_3",
+          "1_4",
+          "1_6",
+          "1_9"
+        ],
+        "correct_answer_room": "1_11",
+        "all_options": [
+          "meetingroom/conferenceroom",
+          "closet",
+          "stairs"
+        ],
+        "context_rooms": "lounge, meetingroom/conferenceroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 22,
+      "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": 22,
+        "current_room": "office",
+        "landmark_room": "hallway",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "office",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "lounge",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) lounge (B) meetingroom/conferenceroom (C) closet",
+    "answer": "A",
+    "options": [
+      "lounge",
+      "meetingroom/conferenceroom",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "lounge",
+      "all_options": [
+        "lounge",
+        "meetingroom/conferenceroom",
+        "closet"
+      ],
+      "query_timestep_internal": 60,
+      "rooms_visited": [
+        "hallway",
+        "lounge",
+        "office"
+      ]
+    }
+  }
+}

test/001324/meta.json

@@ -0,0 +1,224 @@
+{
+  "episode_id": 1324,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/gTV8FGcVJC9/gTV8FGcVJC9.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn to the right and walk past the bed.  Go past the tv and to the doorway.  You'll walk just to the other side of the bedroom door.  Wait there. \", instruction_tokens=[2494, 2438, 2389, 1968, 119, 2584, 1728, 2389, 267, 15, 1067, 1728, 2389, 2501, 119, 2438, 2389, 766, 15, 2703, 9, 1406, 2584, 1293, 2438, 2389, 1651, 2121, 1605, 2389, 273, 757, 15, 2579, 2395, 15])",
+  "instruction_text": "Turn to the right and walk past the bed.  Go past the tv and to the doorway.  You'll walk just to the other side of the bedroom door.  Wait there. ",
+  "num_steps": 57,
+  "total_unique_objects": 620,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the objects in the rec/game, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1
+      ],
+      "metadata": {
+        "probe_object_id": 1,
+        "probe_category": "objects",
+        "probe_room": "rec/game",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 14,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -15.253299713134766,
+          -5.114590644836426,
+          8.239060401916504
+        ],
+        "agent_position_when_seen": [
+          -15.010220527648926,
+          7.256642818450928,
+          12.275232315063477
+        ],
+        "pixel_centroid_x": 19.48076923076923,
+        "normalized_position_x": -0.8478064903846154,
+        "object_pixel_count": 156,
+        "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 objects before or after the objects?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        210
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "objects",
+        "object_A_timestep": 0,
+        "object_B_id": 210,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 210,
+        "asked_second_object_id": 1
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 22,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) living room (C) bedroom",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "living room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "living room",
+          "bedroom"
+        ],
+        "query_timestep_internal": 22,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 55,
+      "question": "From your current viewpoint, is the stairs to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        87,
+        498
+      ],
+      "metadata": {
+        "object_A_id": 87,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          -2.667069911956787,
+          -3.141180992126465,
+          12.886698722839355
+        ],
+        "object_B_id": 498,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          -5.880259990692139,
+          -0.6660709381103516,
+          13.118099212646484
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -9.462669372558594,
+          7.456643581390381,
+          10.246370315551758
+        ],
+        "agent_rotation": [
+          -0.8954700231552124,
+          0.0,
+          0.44512176513671875,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) hallway (B) office (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "office",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_32",
+        "adjacent_rooms": [
+          "2_34",
+          "2_35"
+        ],
+        "correct_answer_room": "2_35",
+        "all_options": [
+          "hallway",
+          "office",
+          "kitchen"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 13,
+      "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": 13,
+        "current_room": "bedroom",
+        "landmark_room": "kitchen",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 34,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) bedroom (C) familyroom/lounge",
+    "answer": "B",
+    "options": [
+      "stairs",
+      "bedroom",
+      "familyroom/lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bedroom",
+      "all_options": [
+        "stairs",
+        "bedroom",
+        "familyroom/lounge"
+      ],
+      "query_timestep_internal": 34,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/001341/meta.json

@@ -0,0 +1,145 @@
+{
+  "episode_id": 1341,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Walk past fireplace.Make a left before kitchen. Walk through bedroom. Wait at threshold of bathroom door. ', instruction_tokens=[2584, 1728, 942, 15, 1446, 73, 1360, 281, 1306, 15, 2584, 2418, 273, 15, 2579, 178, 2417, 1605, 242, 757, 15])",
+  "instruction_text": "Walk past fireplace.Make a left before kitchen. Walk through bedroom. Wait at threshold of bathroom door. ",
+  "num_steps": 68,
+  "total_unique_objects": 202,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 67,
+      "question": "Along your path, did you see the cabinet before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        240,
+        77
+      ],
+      "metadata": {
+        "object_A_id": 240,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 49,
+        "object_B_id": 77,
+        "object_B_category": "chair",
+        "object_B_timestep": 54,
+        "time_gap": 5,
+        "asked_first_object_id": 240,
+        "asked_second_object_id": 77
+      }
+    },
+    {
+      "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) kitchen (B) hallway (C) stairs",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "hallway",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "hallway",
+          "stairs"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 51,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bathroom (B) closet (C) kitchen",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "closet",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_7",
+        "adjacent_rooms": [
+          "0_18",
+          "0_19",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_8",
+        "all_options": [
+          "bathroom",
+          "closet",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "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": 15,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 27,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) hallway (C) spa/sauna",
+    "answer": "B",
+    "options": [
+      "living room",
+      "hallway",
+      "spa/sauna"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "living room",
+        "hallway",
+        "spa/sauna"
+      ],
+      "query_timestep_internal": 27,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/001357/meta.json

@@ -0,0 +1,124 @@
+{
+  "episode_id": 1357,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward to the red dot then stop. ', instruction_tokens=[2584, 993, 2438, 2389, 1939, 772, 2394, 2278, 15])",
+  "instruction_text": "Walk forward to the red dot then stop. ",
+  "num_steps": 58,
+  "total_unique_objects": 286,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "question": "Recall your earlier path. When you passed by the mirror in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        44
+      ],
+      "metadata": {
+        "probe_object_id": 44,
+        "probe_category": "mirror",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 3,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          19.747400283813477,
+          0.8468656539916992,
+          11.223599433898926
+        ],
+        "agent_position_when_seen": [
+          25.086999893188477,
+          0.08020400255918503,
+          13.174599647521973
+        ],
+        "pixel_centroid_x": 246.41904761904763,
+        "normalized_position_x": 0.9251488095238096,
+        "object_pixel_count": 105,
+        "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 column before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        1015
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 1015,
+        "object_B_category": "column",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 1015,
+        "asked_second_object_id": 4
+      }
+    },
+    {
+      "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) dining booth (B) classroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "dining booth",
+        "classroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "dining booth",
+          "classroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 40,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 54,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) classroom (C) hallway",
+    "answer": "C",
+    "options": [
+      "office",
+      "classroom",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "office",
+        "classroom",
+        "hallway"
+      ],
+      "query_timestep_internal": 54,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

test/001484/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 1484,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and immediately right again.  Take another right into the bedroom.  Walk through bedroom and through the bathroom door. ', instruction_tokens=[2494, 1968, 119, 1234, 1968, 95, 15, 2352, 126, 1968, 1264, 2389, 273, 15, 2584, 2418, 273, 119, 2418, 2389, 242, 757, 15])",
+  "instruction_text": "Turn right and immediately right again.  Take another right into the bedroom.  Walk through bedroom and through the bathroom door. ",
+  "num_steps": 71,
+  "total_unique_objects": 138,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 70,
+      "question": "Recall your earlier path. When you passed by the mirror in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        433
+      ],
+      "metadata": {
+        "probe_object_id": 433,
+        "probe_category": "mirror",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 28,
+        "best_view_timestep": 29,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          -1.8515000343322754,
+          0.9877080917358398,
+          -4.740890026092529
+        ],
+        "agent_position_when_seen": [
+          -9.14482593536377,
+          -0.4622059762477875,
+          -6.741264343261719
+        ],
+        "pixel_centroid_x": 227.22916666666666,
+        "normalized_position_x": 0.7752278645833333,
+        "object_pixel_count": 144,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 71
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 70,
+      "question": "Along your path, did you see the sofa before or after the chest_of_drawers?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        145,
+        164
+      ],
+      "metadata": {
+        "object_A_id": 145,
+        "object_A_category": "sofa",
+        "object_A_timestep": 2,
+        "object_B_id": 164,
+        "object_B_category": "chest_of_drawers",
+        "object_B_timestep": 6,
+        "time_gap": 4,
+        "asked_first_object_id": 145,
+        "asked_second_object_id": 164
+      }
+    },
+    {
+      "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) bedroom (B) office (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "office",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "office",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 44,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 35,
+      "question": "From your current viewpoint, is the bed to the left or right of the shower?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        373,
+        388
+      ],
+      "metadata": {
+        "object_A_id": 373,
+        "object_A_category": "shower",
+        "object_A_position": [
+          -0.05984589457511902,
+          0.4647190570831299,
+          -1.072849988937378
+        ],
+        "object_B_id": 388,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -0.5483599305152893,
+          -0.030924320220947266,
+          -4.026989459991455
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -7.936219692230225,
+          -0.4622059762477875,
+          -6.4501800537109375
+        ],
+        "agent_rotation": [
+          -0.5981504917144775,
+          0.0,
+          0.8013838529586792,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 2,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) familyroom/lounge (B) bathroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "bathroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_10",
+          "0_12",
+          "0_5",
+          "0_6",
+          "0_7",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "familyroom/lounge",
+          "bathroom",
+          "stairs"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "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": 1,
+        "current_room": "bedroom",
+        "landmark_room": "living room",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 30,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) office (C) bedroom",
+    "answer": "C",
+    "options": [
+      "living room",
+      "office",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bedroom",
+      "all_options": [
+        "living room",
+        "office",
+        "bedroom"
+      ],
+      "query_timestep_internal": 30,
+      "rooms_visited": [
+        "bathroom",
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

test/001506/meta.json

@@ -0,0 +1,98 @@
+{
+  "episode_id": 1506,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/dhjEzFoUFzH/dhjEzFoUFzH.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the isle of the church stop after the big pillar and the third row of church pews. ', instruction_tokens=[2584, 780, 2389, 1270, 1605, 2389, 494, 2278, 94, 2389, 300, 1783, 119, 2389, 2404, 2008, 1605, 494, 1764, 15])",
+  "instruction_text": "Walk down the isle of the church stop after the big pillar and the third row of church pews. ",
+  "num_steps": 50,
+  "total_unique_objects": 11,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the objects in the other room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        70
+      ],
+      "metadata": {
+        "probe_object_id": 70,
+        "probe_category": "objects",
+        "probe_room": "other room",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 2,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
+          -6.055620193481445,
+          2.7076199054718018,
+          -2.99865984916687
+        ],
+        "agent_position_when_seen": [
+          1.4863799810409546,
+          -0.15115001797676086,
+          -19.590299606323242
+        ],
+        "pixel_centroid_x": 35.60377358490566,
+        "normalized_position_x": -0.7218455188679245,
+        "object_pixel_count": 424,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 50
+      }
+    },
+    {
+      "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) bathroom (B) bedroom (C) other room",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "bedroom",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "other room",
+        "all_options": [
+          "bathroom",
+          "bedroom",
+          "other room"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "other room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 46,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) bathroom (C) other room",
+    "answer": "C",
+    "options": [
+      "bedroom",
+      "bathroom",
+      "other room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "other room",
+      "all_options": [
+        "bedroom",
+        "bathroom",
+        "other room"
+      ],
+      "query_timestep_internal": 46,
+      "rooms_visited": [
+        "other room"
+      ]
+    }
+  }
+}