YF0224/demo · Datasets at Hugging Face

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Split (2)

validation

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The dataset generation failed because of a cast error

Error code:   DatasetGenerationCastError
Exception:    DatasetGenerationCastError
Message:      An error occurred while generating the dataset

All the data files must have the same columns, but at some point there are 6 new columns ({'id', 'metadata', 'gt_video_path', 'prompt', 'task_type', 'image_path'}) and 1 missing columns ({'episodes'}).

This happened while the json dataset builder was generating data using

hf://datasets/YF0224/demo/testcases/epic_kitchen_100/epic-kitchens-100_test.json (at revision af6adf7768d288daf051edafb06f234ef533b52b)

Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1831, in _prepare_split_single
                  writer.write_table(table)
                File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 714, in write_table
                  pa_table = table_cast(pa_table, self._schema)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2272, in table_cast
                  return cast_table_to_schema(table, schema)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              id: string
              task_type: string
              image_path: string
              prompt: string
              gt_video_path: string
              metadata: struct<all_noun_classes: list<item: int64>, all_nouns: list<item: string>, noun: string, noun_class: (... 121 chars omitted)
                child 0, all_noun_classes: list<item: int64>
                    child 0, item: int64
                child 1, all_nouns: list<item: string>
                    child 0, item: string
                child 2, noun: string
                child 3, noun_class: int64
                child 4, participant_id: string
                child 5, start_frame: int64
                child 6, stop_frame: int64
                child 7, verb: string
                child 8, verb_class: int64
                child 9, video_id: string
              -- schema metadata --
              pandas: '{"index_columns": [], "column_indexes": [], "columns": [{"name":' + 815
              to
              {'episodes': List({'episode_id': Value('int64'), 'trajectory_id': Value('int64'), 'scene_id': Value('string'), 'start_position': List(Value('float64')), 'start_rotation': List(Value('float64')), 'info': {'geodesic_distance': Value('float64')}, 'goals': List({'position': List(Value('float64')), 'radius': Value('float64')}), 'instruction': {'instruction_text': Value('string'), 'instruction_tokens': List(Value('int64'))}, 'reference_path': List(List(Value('float64')))})}
              because column names don't match
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1339, in compute_config_parquet_and_info_response
                  parquet_operations = convert_to_parquet(builder)
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 972, in convert_to_parquet
                  builder.download_and_prepare(
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 894, in download_and_prepare
                  self._download_and_prepare(
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 970, in _download_and_prepare
                  self._prepare_split(split_generator, **prepare_split_kwargs)
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1702, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1833, in _prepare_split_single
                  raise DatasetGenerationCastError.from_cast_error(
              datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
              
              All the data files must have the same columns, but at some point there are 6 new columns ({'id', 'metadata', 'gt_video_path', 'prompt', 'task_type', 'image_path'}) and 1 missing columns ({'episodes'}).
              
              This happened while the json dataset builder was generating data using
              
              hf://datasets/YF0224/demo/testcases/epic_kitchen_100/epic-kitchens-100_test.json (at revision af6adf7768d288daf051edafb06f234ef533b52b)
              
              Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

episodes list
[ { "episode_id": 1, "trajectory_id": 37, "scene_id": "mp3d/s8pcmisQ38h/s8pcmisQ38h.glb", "start_position": [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], "start_rotation": [ 0, 0.9659258262890683, 0, -0.25881904510252063 ], "info": { "geodesic_distance": 10.39185905456543 }, "goals": [ { "position": [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk down the stairs, turn right, and walk towards place with a rug. Wait near the bench and piano along the right side of the wall. ", "instruction_tokens": [ 2584, 780, 2389, 2222, 2494, 1968, 119, 2584, 2452, 1801, 2661, 73, 2010, 15, 2579, 1563, 2389, 290, 119, 1773, 108, 2389, 1968, 2121, 1605, 2389, 2593, 15 ] }, "reference_path": [ [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], [ 4.822649955749512, -2.2173328399658203, 2.7935900688171387 ], [ 3.584249973297119, -2.761673927307129, 2.7057600021362305 ], [ 4.091310024261475, -3.1616740226745605, 1.2295000553131104 ], [ 7.354829788208008, -3.1616740226745605, 1.3889299631118774 ], [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ] ] }, { "episode_id": 2, "trajectory_id": 37, "scene_id": "mp3d/s8pcmisQ38h/s8pcmisQ38h.glb", "start_position": [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], "start_rotation": [ 0, 0.9659258262890683, 0, -0.25881904510252063 ], "info": { "geodesic_distance": 10.39185905456543 }, "goals": [ { "position": [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ], "radius": 3 } ], "instruction": { "instruction_text": "Go down the stairs, and take a right . walk forward towards the leather chairs next to the table. Once you reach the bench on your right stop and stand on the wood between the bench and the carpet. ", "instruction_tokens": [ 1067, 780, 2389, 2222, 119, 2352, 73, 1968, 15, 2584, 993, 2452, 2389, 1354, 458, 1576, 2438, 2389, 2342, 15, 1615, 2703, 1920, 2389, 290, 1613, 2706, 1968, 2278, 119, 2235, 1613, 2389, 2668, 294, 2389, 290, 119, 2389, 432, 15 ] }, "reference_path": [ [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], [ 4.822649955749512, -2.2173328399658203, 2.7935900688171387 ], [ 3.584249973297119, -2.761673927307129, 2.7057600021362305 ], [ 4.091310024261475, -3.1616740226745605, 1.2295000553131104 ], [ 7.354829788208008, -3.1616740226745605, 1.3889299631118774 ], [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ] ] }, { "episode_id": 3, "trajectory_id": 37, "scene_id": "mp3d/s8pcmisQ38h/s8pcmisQ38h.glb", "start_position": [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], "start_rotation": [ 0, 0.9659258262890683, 0, -0.25881904510252063 ], "info": { "geodesic_distance": 10.39185905456543 }, "goals": [ { "position": [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ], "radius": 3 } ], "instruction": { "instruction_text": "Go down the stairs. Turn right. Go past the glass display case and wait in front of the bench on the right. ", "instruction_tokens": [ 1067, 780, 2389, 2222, 15, 2494, 1968, 15, 1067, 1728, 2389, 1057, 733, 441, 119, 2579, 1237, 1019, 1605, 2389, 290, 1613, 2389, 1968, 15 ] }, "reference_path": [ [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], [ 4.822649955749512, -2.2173328399658203, 2.7935900688171387 ], [ 3.584249973297119, -2.761673927307129, 2.7057600021362305 ], [ 4.091310024261475, -3.1616740226745605, 1.2295000553131104 ], [ 7.354829788208008, -3.1616740226745605, 1.3889299631118774 ], [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ] ] }, { "episode_id": 4, "trajectory_id": 93, "scene_id": "mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb", "start_position": [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], "start_rotation": [ 0, 0.7071067811865476, 0, -0.7071067811865475 ], "info": { "geodesic_distance": 11.194713592529297 }, "goals": [ { "position": [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ], "radius": 3 } ], "instruction": { "instruction_text": "TURN LEFT YOU FACE A CHANDELIER ABOVE A GREEN TABLE WITH A DOOR WAY TO THE LEFT AND AN OPEN DOOR ON THE FAR WALL, WALK TOWARDS THE OPEN DOOR ON THE FAR WALL, WALK THOUGH THE DOOR AND DOWN THE HALLWAY INTO A ROOM WITH A BLUE PATTERNED CARPET AND A TABLE IN THE MIDDLE OF THE ROOM. ", "instruction_tokens": [ 2494, 1360, 2703, 903, 73, 465, 78, 73, 1098, 2342, 2661, 73, 757, 2616, 2438, 2389, 1360, 119, 118, 1625, 757, 1613, 2389, 914, 2593, 2584, 2452, 2389, 1625, 757, 1613, 2389, 914, 2593, 2584, 2411, 2389, 757, 119, 780, 2389, 1126, 1264, 73, 1994, 2661, 73, 324, 1740, 432, 119, 73, 2342, 1237, 2389, 1506, 1605, 2389, 1994, 15 ] }, "reference_path": [ [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], [ 11.773900032043457, 0.24438095092773438, 6.323110103607178 ], [ 10.30150032043457, 0.24438095092773438, 5.45274019241333 ], [ 7.659709930419922, 0.24438095092773438, 4.078279972076416 ], [ 5.841370105743408, 0.24438095092773438, 4.036479949951172 ], [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ] ] }, { "episode_id": 5, "trajectory_id": 93, "scene_id": "mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb", "start_position": [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], "start_rotation": [ 0, 0.7071067811865476, 0, -0.7071067811865475 ], "info": { "geodesic_distance": 11.194713592529297 }, "goals": [ { "position": [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk through the office passed the table and armchairs. Walk through the door on the other side of the table swith the arched window above. Walk down the hall and into the room at the end of the hallway. Walk towards the circular tables in the middle of the large room. ", "instruction_tokens": [ 2584, 2418, 2389, 1607, 1725, 2389, 2342, 119, 156, 15, 2584, 2418, 2389, 757, 1613, 2389, 1651, 2121, 1605, 2389, 2342, 2336, 2389, 144, 2652, 78, 15, 2584, 780, 2389, 1121, 119, 1264, 2389, 1994, 178, 2389, 851, 1605, 2389, 1126, 15, 2584, 2452, 2389, 504, 2347, 1237, 2389, 1506, 1605, 2389, 1336, 1994, 15 ] }, "reference_path": [ [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], [ 11.773900032043457, 0.24438095092773438, 6.323110103607178 ], [ 10.30150032043457, 0.24438095092773438, 5.45274019241333 ], [ 7.659709930419922, 0.24438095092773438, 4.078279972076416 ], [ 5.841370105743408, 0.24438095092773438, 4.036479949951172 ], [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ] ] }, { "episode_id": 6, "trajectory_id": 93, "scene_id": "mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb", "start_position": [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], "start_rotation": [ 0, 0.7071067811865476, 0, -0.7071067811865475 ], "info": { "geodesic_distance": 11.194713592529297 }, "goals": [ { "position": [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ], "radius": 3 } ], "instruction": { "instruction_text": "Exit the room through the only door with an arched, round design above it. Continue straight through the small hall and enter the next room. Stop once you reach the blue mat. ", "instruction_tokens": [ 888, 2389, 1994, 2418, 2389, 1618, 757, 2661, 118, 144, 2005, 691, 78, 1272, 15, 569, 2288, 2418, 2389, 2170, 1121, 119, 860, 2389, 1576, 1994, 15, 2278, 1615, 2703, 1920, 2389, 324, 1476, 15 ] }, "reference_path": [ [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], [ 11.773900032043457, 0.24438095092773438, 6.323110103607178 ], [ 10.30150032043457, 0.24438095092773438, 5.45274019241333 ], [ 7.659709930419922, 0.24438095092773438, 4.078279972076416 ], [ 5.841370105743408, 0.24438095092773438, 4.036479949951172 ], [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ] ] }, { "episode_id": 7, "trajectory_id": 111, "scene_id": "mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb", "start_position": [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.458539009094238 }, "goals": [ { "position": [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ], "radius": 3 } ], "instruction": { "instruction_text": "Turn around and then proceed to your left. Enter large room that looks like a lobby. Head left towards stairway. Then take another left into large dining hall. ", "instruction_tokens": [ 2494, 159, 119, 2394, 1878, 2438, 2706, 1360, 15, 860, 1336, 1994, 2388, 1422, 1386, 73, 1408, 15, 1162, 1360, 2452, 2225, 15, 2394, 2352, 126, 1360, 1264, 1336, 711, 1121, 15 ] }, "reference_path": [ [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], [ -8.850629806518555, 0.07537198066711426, 1.3819500207901 ], [ -6.226459980010986, 0.07537198066711426, -2.3235599994659424 ], [ -4.9805498123168945, 0.07537198066711426, -3.371649980545044 ], [ -6.454279899597168, 0.07537198066711426, -5.435420036315918 ], [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ] ] }, { "episode_id": 8, "trajectory_id": 111, "scene_id": "mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb", "start_position": [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.458539009094238 }, "goals": [ { "position": [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk past the water fountain and turn left. Walk to the doorway directly across from the stairs. Stop in the doorway. ", "instruction_tokens": [ 2584, 1728, 2389, 2613, 999, 119, 2494, 1360, 15, 2584, 2438, 2389, 766, 720, 85, 1017, 2389, 2222, 15, 2278, 1237, 2389, 766, 15 ] }, "reference_path": [ [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], [ -8.850629806518555, 0.07537198066711426, 1.3819500207901 ], [ -6.226459980010986, 0.07537198066711426, -2.3235599994659424 ], [ -4.9805498123168945, 0.07537198066711426, -3.371649980545044 ], [ -6.454279899597168, 0.07537198066711426, -5.435420036315918 ], [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ] ] }, { "episode_id": 9, "trajectory_id": 111, "scene_id": "mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb", "start_position": [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.458539009094238 }, "goals": [ { "position": [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ], "radius": 3 } ], "instruction": { "instruction_text": "Go towards the water fountain and turn left. Walk into the big room and go to the left again and into a banquet hall. Stand near the door and wait. ", "instruction_tokens": [ 1067, 2452, 2389, 2613, 999, 119, 2494, 1360, 15, 2584, 1264, 2389, 300, 1994, 119, 1067, 2438, 2389, 1360, 95, 119, 1264, 73, 215, 1121, 15, 2235, 1563, 2389, 757, 119, 2579, 15 ] }, "reference_path": [ [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], [ -8.850629806518555, 0.07537198066711426, 1.3819500207901 ], [ -6.226459980010986, 0.07537198066711426, -2.3235599994659424 ], [ -4.9805498123168945, 0.07537198066711426, -3.371649980545044 ], [ -6.454279899597168, 0.07537198066711426, -5.435420036315918 ], [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ] ] }, { "episode_id": 10, "trajectory_id": 139, "scene_id": "mp3d/759xd9YjKW5/759xd9YjKW5.glb", "start_position": [ -7.182509899139404, 0.09666500240564346, 21.212299346923828 ], "start_rotation": [ 0, 0.7071067811865476, 0, -0.7071067811865475 ], "info": { "geodesic_distance": 10.117118835449219 }, "goals": [ { "position": [ -10.944000244140625, 0.09666500240564346, 17.360200881958008 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk passed the foot of the bed and around to the open door. Walk out of the bedroom and into the hallway. Walk down the hall and into the bedroom with the blue floral blanket. ", "instruction_tokens": [ 2584, 1725, 2389, 980, 1605, 2389, 267, 119, 159, 2438, 2389, 1625, 757, 15, 2584, 1658, 1605, 2389, 273, 119, 1264, 2389, 1126, 15, 2584, 780, 2389, 1121, 119, 1264, 2389, 273, 2661, 2389, 324, 965, 319, 15 ] }, "reference_path": [ [ -7.182509899139404, 0.09666500240564346, 21.212299346923828 ], [ -4.736199855804443, 0.09666500240564346, 20.040700912475586 ], [ -7.792029857635498, 0.09666500240564346, 16.88960075378418 ], [ -9.753649711608887, 0.09666500240564346, 16.281400680541992 ], [ -10.944000244140625, 0.09666500240564346, 17.360200881958008 ] ] } ]
[ { "episode_id": 1, "trajectory_id": 15, "scene_id": "mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb", "start_position": [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], "start_rotation": [ 0, 0.49999999999999983, 0, 0.8660254037844387 ], "info": { "geodesic_distance": 7.9608235359191895 }, "goals": [ { "position": [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ], "radius": 3 } ], "instruction": { "instruction_text": "Exit the bedroom and turn left. Walk straight passing the gray couch and stop near the rug. ", "instruction_tokens": [ 888, 2389, 273, 119, 2494, 1360, 15, 2584, 2288, 1727, 2389, 1096, 593, 119, 2278, 1563, 2389, 2010, 15 ] }, "reference_path": [ [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], [ 13.649399757385254, 0.17162801325321198, -4.241700172424316 ], [ 12.57610034942627, 0.17162801325321198, -4.270150184631348 ], [ 12.461600303649902, 0.17162801325321198, -2.3902199268341064 ], [ 12.857000350952148, 0.17162801325321198, -0.06946899741888046 ], [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ] ] }, { "episode_id": 2, "trajectory_id": 15, "scene_id": "mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb", "start_position": [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], "start_rotation": [ 0, 0.49999999999999983, 0, 0.8660254037844387 ], "info": { "geodesic_distance": 7.9608235359191895 }, "goals": [ { "position": [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk out of the bedroom through the open door into the hallway. Turn the corner and walk into the dining area. Pass the dining table and walk into the living room area towards the television. Stop near the chair and open sliding doors to outside. ", "instruction_tokens": [ 2584, 1658, 1605, 2389, 273, 2418, 2389, 1625, 757, 1264, 2389, 1126, 15, 2494, 2389, 589, 119, 2584, 1264, 2389, 711, 150, 15, 1721, 2389, 711, 2342, 119, 2584, 1264, 2389, 1404, 1994, 150, 2452, 2389, 2375, 15, 2278, 1563, 2389, 457, 119, 1625, 2161, 762, 2438, 1665, 15 ] }, "reference_path": [ [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], [ 13.649399757385254, 0.17162801325321198, -4.241700172424316 ], [ 12.57610034942627, 0.17162801325321198, -4.270150184631348 ], [ 12.461600303649902, 0.17162801325321198, -2.3902199268341064 ], [ 12.857000350952148, 0.17162801325321198, -0.06946899741888046 ], [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ] ] }, { "episode_id": 3, "trajectory_id": 15, "scene_id": "mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb", "start_position": [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], "start_rotation": [ 0, 0.49999999999999983, 0, 0.8660254037844387 ], "info": { "geodesic_distance": 7.9608235359191895 }, "goals": [ { "position": [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ], "radius": 3 } ], "instruction": { "instruction_text": "Go out of the room you're in. Turn left. Go poast the dining room and into the living room. Wait right by the coffee table. ", "instruction_tokens": [ 1067, 1658, 1605, 2389, 1994, 2703, 9, 1918, 1237, 15, 2494, 1360, 15, 1067, 1831, 2389, 711, 1994, 119, 1264, 2389, 1404, 1994, 15, 2579, 1968, 404, 2389, 534, 2342, 15 ] }, "reference_path": [ [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], [ 13.649399757385254, 0.17162801325321198, -4.241700172424316 ], [ 12.57610034942627, 0.17162801325321198, -4.270150184631348 ], [ 12.461600303649902, 0.17162801325321198, -2.3902199268341064 ], [ 12.857000350952148, 0.17162801325321198, -0.06946899741888046 ], [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ] ] }, { "episode_id": 4, "trajectory_id": 21, "scene_id": "mp3d/TbHJrupSAjP/TbHJrupSAjP.glb", "start_position": [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.660629272460938 }, "goals": [ { "position": [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk up the flight of stairs to the top. Turn and follow the railing into the bedroom area. Walk towards the closet. ", "instruction_tokens": [ 2584, 2527, 2389, 957, 1605, 2222, 2438, 2389, 2444, 15, 2494, 119, 972, 2389, 1910, 1264, 2389, 273, 150, 15, 2584, 2452, 2389, 521, 15 ] }, "reference_path": [ [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], [ -0.20984399318695068, 2.297478675842285, -4.568480014801025 ], [ 0.9583550095558167, 3.11130428314209, -4.9011101722717285 ], [ 2.1451499462127686, 3.560312509536743, -5.003729820251465 ], [ -0.711899995803833, 3.5800554752349854, -6.376410007476807 ], [ -3.1145999431610107, 3.5302207469940186, -5.832210063934326 ], [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ] ] }, { "episode_id": 5, "trajectory_id": 21, "scene_id": "mp3d/TbHJrupSAjP/TbHJrupSAjP.glb", "start_position": [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.660629272460938 }, "goals": [ { "position": [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ], "radius": 3 } ], "instruction": { "instruction_text": "Go up the stairs, and then turn around and go through the door past the stairs. Walk up to the bed, then turn to the right and walk into the doorway. Stop there. ", "instruction_tokens": [ 1067, 2527, 2389, 2222, 119, 2394, 2494, 159, 119, 1067, 2418, 2389, 757, 1728, 2389, 2222, 15, 2584, 2527, 2438, 2389, 267, 2394, 2494, 2438, 2389, 1968, 119, 2584, 1264, 2389, 766, 15, 2278, 2395, 15 ] }, "reference_path": [ [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], [ -0.20984399318695068, 2.297478675842285, -4.568480014801025 ], [ 0.9583550095558167, 3.11130428314209, -4.9011101722717285 ], [ 2.1451499462127686, 3.560312509536743, -5.003729820251465 ], [ -0.711899995803833, 3.5800554752349854, -6.376410007476807 ], [ -3.1145999431610107, 3.5302207469940186, -5.832210063934326 ], [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ] ] }, { "episode_id": 6, "trajectory_id": 21, "scene_id": "mp3d/TbHJrupSAjP/TbHJrupSAjP.glb", "start_position": [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.660629272460938 }, "goals": [ { "position": [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ], "radius": 3 } ], "instruction": { "instruction_text": "WALK UP THE STAIRS, TURN TO THE LEFT AND ENTER INTO THE SECOND OPEN DOOR ON THE LEFT, WALK TOWARDS THE FOOT OF THE BED, TURN RIGHT AND ENTER THE OPEN DOOR TO THE BATHROOM. ", "instruction_tokens": [ 2584, 2527, 2389, 2222, 2494, 2438, 2389, 1360, 119, 860, 1264, 2389, 2054, 1625, 757, 1613, 2389, 1360, 2584, 2452, 2389, 980, 1605, 2389, 267, 2494, 1968, 119, 860, 2389, 1625, 757, 2438, 2389, 242, 15 ] }, "reference_path": [ [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], [ -0.20984399318695068, 2.297478675842285, -4.568480014801025 ], [ 0.9583550095558167, 3.11130428314209, -4.9011101722717285 ], [ 2.1451499462127686, 3.560312509536743, -5.003729820251465 ], [ -0.711899995803833, 3.5800554752349854, -6.376410007476807 ], [ -3.1145999431610107, 3.5302207469940186, -5.832210063934326 ], [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ] ] }, { "episode_id": 7, "trajectory_id": 42, "scene_id": "mp3d/x8F5xyUWy9e/x8F5xyUWy9e.glb", "start_position": [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], "start_rotation": [ 0, 0, 0, 1 ], "info": { "geodesic_distance": 10.452263832092285 }, "goals": [ { "position": [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ], "radius": 3 } ], "instruction": { "instruction_text": "Go straight past the pool. Walk between the bar and chairs. Stop when you get to the corner of the bar. That's where you will wait. ", "instruction_tokens": [ 1067, 2288, 1728, 2389, 1846, 15, 2584, 294, 2389, 217, 119, 458, 15, 2278, 2632, 2703, 1046, 2438, 2389, 589, 1605, 2389, 217, 15, 2388, 9, 2018, 2633, 2703, 2648, 2579, 15 ] }, "reference_path": [ [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], [ -0.9132469892501831, 0.04610800743103027, 5.334700107574463 ], [ -0.06894180178642273, 0.04610800743103027, 2.4979100227355957 ], [ 0.02519790083169937, 0.10301037132740021, -0.15336599946022034 ], [ 0.8089100122451782, 0.04610800743103027, -2.4403700828552246 ], [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ] ] }, { "episode_id": 8, "trajectory_id": 42, "scene_id": "mp3d/x8F5xyUWy9e/x8F5xyUWy9e.glb", "start_position": [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], "start_rotation": [ 0, 0, 0, 1 ], "info": { "geodesic_distance": 10.452263832092285 }, "goals": [ { "position": [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk across the room and wait at the far end of the bar. ", "instruction_tokens": [ 2584, 85, 2389, 1994, 119, 2579, 178, 2389, 914, 851, 1605, 2389, 217, 15 ] }, "reference_path": [ [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], [ -0.9132469892501831, 0.04610800743103027, 5.334700107574463 ], [ -0.06894180178642273, 0.04610800743103027, 2.4979100227355957 ], [ 0.02519790083169937, 0.10301037132740021, -0.15336599946022034 ], [ 0.8089100122451782, 0.04610800743103027, -2.4403700828552246 ], [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ] ] }, { "episode_id": 9, "trajectory_id": 42, "scene_id": "mp3d/x8F5xyUWy9e/x8F5xyUWy9e.glb", "start_position": [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], "start_rotation": [ 0, 0, 0, 1 ], "info": { "geodesic_distance": 10.452263832092285 }, "goals": [ { "position": [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ], "radius": 3 } ], "instruction": { "instruction_text": "Go forward one meter\r\nGo to the chairs\r\nGo to the steps\r\nGo to the endtable\r\nGo to the tan door. ", "instruction_tokens": [ 1067, 993, 1616, 1497, 1067, 2438, 2389, 458, 1067, 2438, 2389, 2265, 1067, 2438, 2389, 855, 1067, 2438, 2389, 2360, 757, 15 ] }, "reference_path": [ [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], [ -0.9132469892501831, 0.04610800743103027, 5.334700107574463 ], [ -0.06894180178642273, 0.04610800743103027, 2.4979100227355957 ], [ 0.02519790083169937, 0.10301037132740021, -0.15336599946022034 ], [ 0.8089100122451782, 0.04610800743103027, -2.4403700828552246 ], [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ] ] }, { "episode_id": 10, "trajectory_id": 57, "scene_id": "mp3d/2azQ1b91cZZ/2azQ1b91cZZ.glb", "start_position": [ 16.489099502563477, 0.12711000442504883, 8.970789909362793 ], "start_rotation": [ 0, 0, 0, 1 ], "info": { "geodesic_distance": 7.112969875335693 }, "goals": [ { "position": [ 16.465200424194336, 0.12711000442504883, 1.8578599691390991 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk into the living room and keep walking straight past the living room. Then walk into the entrance under the balcony. Wait in the entrance to the other room. ", "instruction_tokens": [ 2584, 1264, 2389, 1404, 1994, 119, 1295, 2588, 2288, 1728, 2389, 1404, 1994, 15, 2394, 2584, 1264, 2389, 867, 2517, 2389, 203, 15, 2579, 1237, 2389, 867, 2438, 2389, 1651, 1994, 15 ] }, "reference_path": [ [ 16.489099502563477, 0.12711000442504883, 8.970789909362793 ], [ 16.625499725341797, 0.12711000442504883, 7.304369926452637 ], [ 16.550800323486328, 0.12711000442504883, 4.390049934387207 ], [ 16.67340087890625, 0.12711000442504883, 3.144469976425171 ], [ 16.465200424194336, 0.12711000442504883, 1.8578599691390991 ] ] } ]

episodes

list

[ { "episode_id": 1, "trajectory_id": 37, "scene_id": "mp3d/s8pcmisQ38h/s8pcmisQ38h.glb", "start_position": [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], "start_rotation": [ 0, 0.9659258262890683, 0, -0.25881904510252063 ], "info": { "geodesic_distance": 10.39185905456543 }, "goals": [ { "position": [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk down the stairs, turn right, and walk towards place with a rug. Wait near the bench and piano along the right side of the wall. ", "instruction_tokens": [ 2584, 780, 2389, 2222, 2494, 1968, 119, 2584, 2452, 1801, 2661, 73, 2010, 15, 2579, 1563, 2389, 290, 119, 1773, 108, 2389, 1968, 2121, 1605, 2389, 2593, 15 ] }, "reference_path": [ [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], [ 4.822649955749512, -2.2173328399658203, 2.7935900688171387 ], [ 3.584249973297119, -2.761673927307129, 2.7057600021362305 ], [ 4.091310024261475, -3.1616740226745605, 1.2295000553131104 ], [ 7.354829788208008, -3.1616740226745605, 1.3889299631118774 ], [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ] ] }, { "episode_id": 2, "trajectory_id": 37, "scene_id": "mp3d/s8pcmisQ38h/s8pcmisQ38h.glb", "start_position": [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], "start_rotation": [ 0, 0.9659258262890683, 0, -0.25881904510252063 ], "info": { "geodesic_distance": 10.39185905456543 }, "goals": [ { "position": [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ], "radius": 3 } ], "instruction": { "instruction_text": "Go down the stairs, and take a right . walk forward towards the leather chairs next to the table. Once you reach the bench on your right stop and stand on the wood between the bench and the carpet. ", "instruction_tokens": [ 1067, 780, 2389, 2222, 119, 2352, 73, 1968, 15, 2584, 993, 2452, 2389, 1354, 458, 1576, 2438, 2389, 2342, 15, 1615, 2703, 1920, 2389, 290, 1613, 2706, 1968, 2278, 119, 2235, 1613, 2389, 2668, 294, 2389, 290, 119, 2389, 432, 15 ] }, "reference_path": [ [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], [ 4.822649955749512, -2.2173328399658203, 2.7935900688171387 ], [ 3.584249973297119, -2.761673927307129, 2.7057600021362305 ], [ 4.091310024261475, -3.1616740226745605, 1.2295000553131104 ], [ 7.354829788208008, -3.1616740226745605, 1.3889299631118774 ], [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ] ] }, { "episode_id": 3, "trajectory_id": 37, "scene_id": "mp3d/s8pcmisQ38h/s8pcmisQ38h.glb", "start_position": [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], "start_rotation": [ 0, 0.9659258262890683, 0, -0.25881904510252063 ], "info": { "geodesic_distance": 10.39185905456543 }, "goals": [ { "position": [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ], "radius": 3 } ], "instruction": { "instruction_text": "Go down the stairs. Turn right. Go past the glass display case and wait in front of the bench on the right. ", "instruction_tokens": [ 1067, 780, 2389, 2222, 15, 2494, 1968, 15, 1067, 1728, 2389, 1057, 733, 441, 119, 2579, 1237, 1019, 1605, 2389, 290, 1613, 2389, 1968, 15 ] }, "reference_path": [ [ 5.582849979400635, -1.6265579462051392, 2.817889928817749 ], [ 4.822649955749512, -2.2173328399658203, 2.7935900688171387 ], [ 3.584249973297119, -2.761673927307129, 2.7057600021362305 ], [ 4.091310024261475, -3.1616740226745605, 1.2295000553131104 ], [ 7.354829788208008, -3.1616740226745605, 1.3889299631118774 ], [ 11.632800102233887, -3.1616740226745605, 1.9992599487304688 ] ] }, { "episode_id": 4, "trajectory_id": 93, "scene_id": "mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb", "start_position": [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], "start_rotation": [ 0, 0.7071067811865476, 0, -0.7071067811865475 ], "info": { "geodesic_distance": 11.194713592529297 }, "goals": [ { "position": [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ], "radius": 3 } ], "instruction": { "instruction_text": "TURN LEFT YOU FACE A CHANDELIER ABOVE A GREEN TABLE WITH A DOOR WAY TO THE LEFT AND AN OPEN DOOR ON THE FAR WALL, WALK TOWARDS THE OPEN DOOR ON THE FAR WALL, WALK THOUGH THE DOOR AND DOWN THE HALLWAY INTO A ROOM WITH A BLUE PATTERNED CARPET AND A TABLE IN THE MIDDLE OF THE ROOM. ", "instruction_tokens": [ 2494, 1360, 2703, 903, 73, 465, 78, 73, 1098, 2342, 2661, 73, 757, 2616, 2438, 2389, 1360, 119, 118, 1625, 757, 1613, 2389, 914, 2593, 2584, 2452, 2389, 1625, 757, 1613, 2389, 914, 2593, 2584, 2411, 2389, 757, 119, 780, 2389, 1126, 1264, 73, 1994, 2661, 73, 324, 1740, 432, 119, 73, 2342, 1237, 2389, 1506, 1605, 2389, 1994, 15 ] }, "reference_path": [ [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], [ 11.773900032043457, 0.24438095092773438, 6.323110103607178 ], [ 10.30150032043457, 0.24438095092773438, 5.45274019241333 ], [ 7.659709930419922, 0.24438095092773438, 4.078279972076416 ], [ 5.841370105743408, 0.24438095092773438, 4.036479949951172 ], [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ] ] }, { "episode_id": 5, "trajectory_id": 93, "scene_id": "mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb", "start_position": [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], "start_rotation": [ 0, 0.7071067811865476, 0, -0.7071067811865475 ], "info": { "geodesic_distance": 11.194713592529297 }, "goals": [ { "position": [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk through the office passed the table and armchairs. Walk through the door on the other side of the table swith the arched window above. Walk down the hall and into the room at the end of the hallway. Walk towards the circular tables in the middle of the large room. ", "instruction_tokens": [ 2584, 2418, 2389, 1607, 1725, 2389, 2342, 119, 156, 15, 2584, 2418, 2389, 757, 1613, 2389, 1651, 2121, 1605, 2389, 2342, 2336, 2389, 144, 2652, 78, 15, 2584, 780, 2389, 1121, 119, 1264, 2389, 1994, 178, 2389, 851, 1605, 2389, 1126, 15, 2584, 2452, 2389, 504, 2347, 1237, 2389, 1506, 1605, 2389, 1336, 1994, 15 ] }, "reference_path": [ [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], [ 11.773900032043457, 0.24438095092773438, 6.323110103607178 ], [ 10.30150032043457, 0.24438095092773438, 5.45274019241333 ], [ 7.659709930419922, 0.24438095092773438, 4.078279972076416 ], [ 5.841370105743408, 0.24438095092773438, 4.036479949951172 ], [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ] ] }, { "episode_id": 6, "trajectory_id": 93, "scene_id": "mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb", "start_position": [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], "start_rotation": [ 0, 0.7071067811865476, 0, -0.7071067811865475 ], "info": { "geodesic_distance": 11.194713592529297 }, "goals": [ { "position": [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ], "radius": 3 } ], "instruction": { "instruction_text": "Exit the room through the only door with an arched, round design above it. Continue straight through the small hall and enter the next room. Stop once you reach the blue mat. ", "instruction_tokens": [ 888, 2389, 1994, 2418, 2389, 1618, 757, 2661, 118, 144, 2005, 691, 78, 1272, 15, 569, 2288, 2418, 2389, 2170, 1121, 119, 860, 2389, 1576, 1994, 15, 2278, 1615, 2703, 1920, 2389, 324, 1476, 15 ] }, "reference_path": [ [ 13.333499908447266, 0.24438095092773438, 5.276130199432373 ], [ 11.773900032043457, 0.24438095092773438, 6.323110103607178 ], [ 10.30150032043457, 0.24438095092773438, 5.45274019241333 ], [ 7.659709930419922, 0.24438095092773438, 4.078279972076416 ], [ 5.841370105743408, 0.24438095092773438, 4.036479949951172 ], [ 2.3771300315856934, 0.24438095092773438, 4.029669761657715 ] ] }, { "episode_id": 7, "trajectory_id": 111, "scene_id": "mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb", "start_position": [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.458539009094238 }, "goals": [ { "position": [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ], "radius": 3 } ], "instruction": { "instruction_text": "Turn around and then proceed to your left. Enter large room that looks like a lobby. Head left towards stairway. Then take another left into large dining hall. ", "instruction_tokens": [ 2494, 159, 119, 2394, 1878, 2438, 2706, 1360, 15, 860, 1336, 1994, 2388, 1422, 1386, 73, 1408, 15, 1162, 1360, 2452, 2225, 15, 2394, 2352, 126, 1360, 1264, 1336, 711, 1121, 15 ] }, "reference_path": [ [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], [ -8.850629806518555, 0.07537198066711426, 1.3819500207901 ], [ -6.226459980010986, 0.07537198066711426, -2.3235599994659424 ], [ -4.9805498123168945, 0.07537198066711426, -3.371649980545044 ], [ -6.454279899597168, 0.07537198066711426, -5.435420036315918 ], [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ] ] }, { "episode_id": 8, "trajectory_id": 111, "scene_id": "mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb", "start_position": [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.458539009094238 }, "goals": [ { "position": [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk past the water fountain and turn left. Walk to the doorway directly across from the stairs. Stop in the doorway. ", "instruction_tokens": [ 2584, 1728, 2389, 2613, 999, 119, 2494, 1360, 15, 2584, 2438, 2389, 766, 720, 85, 1017, 2389, 2222, 15, 2278, 1237, 2389, 766, 15 ] }, "reference_path": [ [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], [ -8.850629806518555, 0.07537198066711426, 1.3819500207901 ], [ -6.226459980010986, 0.07537198066711426, -2.3235599994659424 ], [ -4.9805498123168945, 0.07537198066711426, -3.371649980545044 ], [ -6.454279899597168, 0.07537198066711426, -5.435420036315918 ], [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ] ] }, { "episode_id": 9, "trajectory_id": 111, "scene_id": "mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb", "start_position": [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.458539009094238 }, "goals": [ { "position": [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ], "radius": 3 } ], "instruction": { "instruction_text": "Go towards the water fountain and turn left. Walk into the big room and go to the left again and into a banquet hall. Stand near the door and wait. ", "instruction_tokens": [ 1067, 2452, 2389, 2613, 999, 119, 2494, 1360, 15, 2584, 1264, 2389, 300, 1994, 119, 1067, 2438, 2389, 1360, 95, 119, 1264, 73, 215, 1121, 15, 2235, 1563, 2389, 757, 119, 2579, 15 ] }, "reference_path": [ [ -9.448829650878906, 0.07537198066711426, -0.8151869773864746 ], [ -8.850629806518555, 0.07537198066711426, 1.3819500207901 ], [ -6.226459980010986, 0.07537198066711426, -2.3235599994659424 ], [ -4.9805498123168945, 0.07537198066711426, -3.371649980545044 ], [ -6.454279899597168, 0.07537198066711426, -5.435420036315918 ], [ -7.377560138702393, 0.07537198066711426, -5.5316901206970215 ] ] }, { "episode_id": 10, "trajectory_id": 139, "scene_id": "mp3d/759xd9YjKW5/759xd9YjKW5.glb", "start_position": [ -7.182509899139404, 0.09666500240564346, 21.212299346923828 ], "start_rotation": [ 0, 0.7071067811865476, 0, -0.7071067811865475 ], "info": { "geodesic_distance": 10.117118835449219 }, "goals": [ { "position": [ -10.944000244140625, 0.09666500240564346, 17.360200881958008 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk passed the foot of the bed and around to the open door. Walk out of the bedroom and into the hallway. Walk down the hall and into the bedroom with the blue floral blanket. ", "instruction_tokens": [ 2584, 1725, 2389, 980, 1605, 2389, 267, 119, 159, 2438, 2389, 1625, 757, 15, 2584, 1658, 1605, 2389, 273, 119, 1264, 2389, 1126, 15, 2584, 780, 2389, 1121, 119, 1264, 2389, 273, 2661, 2389, 324, 965, 319, 15 ] }, "reference_path": [ [ -7.182509899139404, 0.09666500240564346, 21.212299346923828 ], [ -4.736199855804443, 0.09666500240564346, 20.040700912475586 ], [ -7.792029857635498, 0.09666500240564346, 16.88960075378418 ], [ -9.753649711608887, 0.09666500240564346, 16.281400680541992 ], [ -10.944000244140625, 0.09666500240564346, 17.360200881958008 ] ] } ]

[ { "episode_id": 1, "trajectory_id": 15, "scene_id": "mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb", "start_position": [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], "start_rotation": [ 0, 0.49999999999999983, 0, 0.8660254037844387 ], "info": { "geodesic_distance": 7.9608235359191895 }, "goals": [ { "position": [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ], "radius": 3 } ], "instruction": { "instruction_text": "Exit the bedroom and turn left. Walk straight passing the gray couch and stop near the rug. ", "instruction_tokens": [ 888, 2389, 273, 119, 2494, 1360, 15, 2584, 2288, 1727, 2389, 1096, 593, 119, 2278, 1563, 2389, 2010, 15 ] }, "reference_path": [ [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], [ 13.649399757385254, 0.17162801325321198, -4.241700172424316 ], [ 12.57610034942627, 0.17162801325321198, -4.270150184631348 ], [ 12.461600303649902, 0.17162801325321198, -2.3902199268341064 ], [ 12.857000350952148, 0.17162801325321198, -0.06946899741888046 ], [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ] ] }, { "episode_id": 2, "trajectory_id": 15, "scene_id": "mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb", "start_position": [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], "start_rotation": [ 0, 0.49999999999999983, 0, 0.8660254037844387 ], "info": { "geodesic_distance": 7.9608235359191895 }, "goals": [ { "position": [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk out of the bedroom through the open door into the hallway. Turn the corner and walk into the dining area. Pass the dining table and walk into the living room area towards the television. Stop near the chair and open sliding doors to outside. ", "instruction_tokens": [ 2584, 1658, 1605, 2389, 273, 2418, 2389, 1625, 757, 1264, 2389, 1126, 15, 2494, 2389, 589, 119, 2584, 1264, 2389, 711, 150, 15, 1721, 2389, 711, 2342, 119, 2584, 1264, 2389, 1404, 1994, 150, 2452, 2389, 2375, 15, 2278, 1563, 2389, 457, 119, 1625, 2161, 762, 2438, 1665, 15 ] }, "reference_path": [ [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], [ 13.649399757385254, 0.17162801325321198, -4.241700172424316 ], [ 12.57610034942627, 0.17162801325321198, -4.270150184631348 ], [ 12.461600303649902, 0.17162801325321198, -2.3902199268341064 ], [ 12.857000350952148, 0.17162801325321198, -0.06946899741888046 ], [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ] ] }, { "episode_id": 3, "trajectory_id": 15, "scene_id": "mp3d/zsNo4HB9uLZ/zsNo4HB9uLZ.glb", "start_position": [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], "start_rotation": [ 0, 0.49999999999999983, 0, 0.8660254037844387 ], "info": { "geodesic_distance": 7.9608235359191895 }, "goals": [ { "position": [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ], "radius": 3 } ], "instruction": { "instruction_text": "Go out of the room you're in. Turn left. Go poast the dining room and into the living room. Wait right by the coffee table. ", "instruction_tokens": [ 1067, 1658, 1605, 2389, 1994, 2703, 9, 1918, 1237, 15, 2494, 1360, 15, 1067, 1831, 2389, 711, 1994, 119, 1264, 2389, 1404, 1994, 15, 2579, 1968, 404, 2389, 534, 2342, 15 ] }, "reference_path": [ [ 15.068599700927734, 0.17162801325321198, -4.4848198890686035 ], [ 13.649399757385254, 0.17162801325321198, -4.241700172424316 ], [ 12.57610034942627, 0.17162801325321198, -4.270150184631348 ], [ 12.461600303649902, 0.17162801325321198, -2.3902199268341064 ], [ 12.857000350952148, 0.17162801325321198, -0.06946899741888046 ], [ 13.04640007019043, 0.17162801325321198, 1.8739700317382812 ] ] }, { "episode_id": 4, "trajectory_id": 21, "scene_id": "mp3d/TbHJrupSAjP/TbHJrupSAjP.glb", "start_position": [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.660629272460938 }, "goals": [ { "position": [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk up the flight of stairs to the top. Turn and follow the railing into the bedroom area. Walk towards the closet. ", "instruction_tokens": [ 2584, 2527, 2389, 957, 1605, 2222, 2438, 2389, 2444, 15, 2494, 119, 972, 2389, 1910, 1264, 2389, 273, 150, 15, 2584, 2452, 2389, 521, 15 ] }, "reference_path": [ [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], [ -0.20984399318695068, 2.297478675842285, -4.568480014801025 ], [ 0.9583550095558167, 3.11130428314209, -4.9011101722717285 ], [ 2.1451499462127686, 3.560312509536743, -5.003729820251465 ], [ -0.711899995803833, 3.5800554752349854, -6.376410007476807 ], [ -3.1145999431610107, 3.5302207469940186, -5.832210063934326 ], [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ] ] }, { "episode_id": 5, "trajectory_id": 21, "scene_id": "mp3d/TbHJrupSAjP/TbHJrupSAjP.glb", "start_position": [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.660629272460938 }, "goals": [ { "position": [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ], "radius": 3 } ], "instruction": { "instruction_text": "Go up the stairs, and then turn around and go through the door past the stairs. Walk up to the bed, then turn to the right and walk into the doorway. Stop there. ", "instruction_tokens": [ 1067, 2527, 2389, 2222, 119, 2394, 2494, 159, 119, 1067, 2418, 2389, 757, 1728, 2389, 2222, 15, 2584, 2527, 2438, 2389, 267, 2394, 2494, 2438, 2389, 1968, 119, 2584, 1264, 2389, 766, 15, 2278, 2395, 15 ] }, "reference_path": [ [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], [ -0.20984399318695068, 2.297478675842285, -4.568480014801025 ], [ 0.9583550095558167, 3.11130428314209, -4.9011101722717285 ], [ 2.1451499462127686, 3.560312509536743, -5.003729820251465 ], [ -0.711899995803833, 3.5800554752349854, -6.376410007476807 ], [ -3.1145999431610107, 3.5302207469940186, -5.832210063934326 ], [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ] ] }, { "episode_id": 6, "trajectory_id": 21, "scene_id": "mp3d/TbHJrupSAjP/TbHJrupSAjP.glb", "start_position": [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], "start_rotation": [ 0, 0.2588190451025209, 0, 0.9659258262890682 ], "info": { "geodesic_distance": 9.660629272460938 }, "goals": [ { "position": [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ], "radius": 3 } ], "instruction": { "instruction_text": "WALK UP THE STAIRS, TURN TO THE LEFT AND ENTER INTO THE SECOND OPEN DOOR ON THE LEFT, WALK TOWARDS THE FOOT OF THE BED, TURN RIGHT AND ENTER THE OPEN DOOR TO THE BATHROOM. ", "instruction_tokens": [ 2584, 2527, 2389, 2222, 2494, 2438, 2389, 1360, 119, 860, 1264, 2389, 2054, 1625, 757, 1613, 2389, 1360, 2584, 2452, 2389, 980, 1605, 2389, 267, 2494, 1968, 119, 860, 2389, 1625, 757, 2438, 2389, 242, 15 ] }, "reference_path": [ [ -0.8490139842033386, 1.379429578781128, -3.431030035018921 ], [ -0.20984399318695068, 2.297478675842285, -4.568480014801025 ], [ 0.9583550095558167, 3.11130428314209, -4.9011101722717285 ], [ 2.1451499462127686, 3.560312509536743, -5.003729820251465 ], [ -0.711899995803833, 3.5800554752349854, -6.376410007476807 ], [ -3.1145999431610107, 3.5302207469940186, -5.832210063934326 ], [ -2.9906399250030518, 3.5454914569854736, -7.188910007476807 ] ] }, { "episode_id": 7, "trajectory_id": 42, "scene_id": "mp3d/x8F5xyUWy9e/x8F5xyUWy9e.glb", "start_position": [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], "start_rotation": [ 0, 0, 0, 1 ], "info": { "geodesic_distance": 10.452263832092285 }, "goals": [ { "position": [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ], "radius": 3 } ], "instruction": { "instruction_text": "Go straight past the pool. Walk between the bar and chairs. Stop when you get to the corner of the bar. That's where you will wait. ", "instruction_tokens": [ 1067, 2288, 1728, 2389, 1846, 15, 2584, 294, 2389, 217, 119, 458, 15, 2278, 2632, 2703, 1046, 2438, 2389, 589, 1605, 2389, 217, 15, 2388, 9, 2018, 2633, 2703, 2648, 2579, 15 ] }, "reference_path": [ [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], [ -0.9132469892501831, 0.04610800743103027, 5.334700107574463 ], [ -0.06894180178642273, 0.04610800743103027, 2.4979100227355957 ], [ 0.02519790083169937, 0.10301037132740021, -0.15336599946022034 ], [ 0.8089100122451782, 0.04610800743103027, -2.4403700828552246 ], [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ] ] }, { "episode_id": 8, "trajectory_id": 42, "scene_id": "mp3d/x8F5xyUWy9e/x8F5xyUWy9e.glb", "start_position": [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], "start_rotation": [ 0, 0, 0, 1 ], "info": { "geodesic_distance": 10.452263832092285 }, "goals": [ { "position": [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk across the room and wait at the far end of the bar. ", "instruction_tokens": [ 2584, 85, 2389, 1994, 119, 2579, 178, 2389, 914, 851, 1605, 2389, 217, 15 ] }, "reference_path": [ [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], [ -0.9132469892501831, 0.04610800743103027, 5.334700107574463 ], [ -0.06894180178642273, 0.04610800743103027, 2.4979100227355957 ], [ 0.02519790083169937, 0.10301037132740021, -0.15336599946022034 ], [ 0.8089100122451782, 0.04610800743103027, -2.4403700828552246 ], [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ] ] }, { "episode_id": 9, "trajectory_id": 42, "scene_id": "mp3d/x8F5xyUWy9e/x8F5xyUWy9e.glb", "start_position": [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], "start_rotation": [ 0, 0, 0, 1 ], "info": { "geodesic_distance": 10.452263832092285 }, "goals": [ { "position": [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ], "radius": 3 } ], "instruction": { "instruction_text": "Go forward one meter\r\nGo to the chairs\r\nGo to the steps\r\nGo to the endtable\r\nGo to the tan door. ", "instruction_tokens": [ 1067, 993, 1616, 1497, 1067, 2438, 2389, 458, 1067, 2438, 2389, 2265, 1067, 2438, 2389, 855, 1067, 2438, 2389, 2360, 757, 15 ] }, "reference_path": [ [ -0.944907009601593, 0.04610800743103027, 5.948919773101807 ], [ -0.9132469892501831, 0.04610800743103027, 5.334700107574463 ], [ -0.06894180178642273, 0.04610800743103027, 2.4979100227355957 ], [ 0.02519790083169937, 0.10301037132740021, -0.15336599946022034 ], [ 0.8089100122451782, 0.04610800743103027, -2.4403700828552246 ], [ 0.8591700196266174, 0.04610800743103027, -4.339749813079834 ] ] }, { "episode_id": 10, "trajectory_id": 57, "scene_id": "mp3d/2azQ1b91cZZ/2azQ1b91cZZ.glb", "start_position": [ 16.489099502563477, 0.12711000442504883, 8.970789909362793 ], "start_rotation": [ 0, 0, 0, 1 ], "info": { "geodesic_distance": 7.112969875335693 }, "goals": [ { "position": [ 16.465200424194336, 0.12711000442504883, 1.8578599691390991 ], "radius": 3 } ], "instruction": { "instruction_text": "Walk into the living room and keep walking straight past the living room. Then walk into the entrance under the balcony. Wait in the entrance to the other room. ", "instruction_tokens": [ 2584, 1264, 2389, 1404, 1994, 119, 1295, 2588, 2288, 1728, 2389, 1404, 1994, 15, 2394, 2584, 1264, 2389, 867, 2517, 2389, 203, 15, 2579, 1237, 2389, 867, 2438, 2389, 1651, 1994, 15 ] }, "reference_path": [ [ 16.489099502563477, 0.12711000442504883, 8.970789909362793 ], [ 16.625499725341797, 0.12711000442504883, 7.304369926452637 ], [ 16.550800323486328, 0.12711000442504883, 4.390049934387207 ], [ 16.67340087890625, 0.12711000442504883, 3.144469976425171 ], [ 16.465200424194336, 0.12711000442504883, 1.8578599691390991 ] ] } ]