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- README.md +17 -0
- annotations/task-0016/episode_00160010.json +165 -0
- annotations/task-0016/episode_00160020.json +165 -0
- annotations/task-0016/episode_00160030.json +165 -0
- annotations/task-0016/episode_00160040.json +165 -0
- annotations/task-0016/episode_00160050.json +165 -0
- annotations/task-0016/episode_00160060.json +165 -0
- annotations/task-0016/episode_00160070.json +165 -0
- annotations/task-0016/episode_00160080.json +165 -0
- annotations/task-0016/episode_00160090.json +165 -0
- annotations/task-0016/episode_00160100.json +165 -0
- annotations/task-0016/episode_00160120.json +165 -0
- annotations/task-0016/episode_00160130.json +165 -0
- annotations/task-0016/episode_00160140.json +165 -0
- annotations/task-0016/episode_00160150.json +165 -0
- annotations/task-0016/episode_00160160.json +165 -0
- annotations/task-0016/episode_00160170.json +165 -0
- annotations/task-0016/episode_00160180.json +165 -0
- annotations/task-0016/episode_00160190.json +165 -0
- annotations/task-0016/episode_00160200.json +165 -0
- annotations/task-0016/episode_00160210.json +165 -0
- annotations/task-0016/episode_00160220.json +165 -0
- annotations/task-0016/episode_00160230.json +165 -0
- annotations/task-0016/episode_00160240.json +165 -0
- annotations/task-0016/episode_00160260.json +165 -0
- annotations/task-0016/episode_00160270.json +165 -0
- annotations/task-0016/episode_00160280.json +165 -0
- annotations/task-0016/episode_00160290.json +165 -0
- annotations/task-0016/episode_00160300.json +165 -0
- annotations/task-0016/episode_00160310.json +165 -0
- annotations/task-0016/episode_00160320.json +165 -0
- annotations/task-0016/episode_00160330.json +165 -0
- annotations/task-0016/episode_00160340.json +165 -0
- annotations/task-0016/episode_00160350.json +165 -0
- annotations/task-0016/episode_00160360.json +165 -0
- annotations/task-0016/episode_00160370.json +165 -0
- annotations/task-0016/episode_00160380.json +165 -0
- annotations/task-0016/episode_00160390.json +165 -0
- annotations/task-0016/episode_00160400.json +165 -0
- annotations/task-0016/episode_00160410.json +165 -0
- annotations/task-0016/episode_00160420.json +165 -0
- annotations/task-0016/episode_00160430.json +165 -0
- annotations/task-0016/episode_00160440.json +165 -0
- annotations/task-0016/episode_00160450.json +165 -0
- annotations/task-0016/episode_00160460.json +165 -0
- annotations/task-0016/episode_00160470.json +165 -0
- annotations/task-0016/episode_00160480.json +165 -0
- annotations/task-0016/episode_00160490.json +165 -0
- annotations/task-0016/episode_00160500.json +165 -0
- annotations/task-0016/episode_00160510.json +165 -0
README.md
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---
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tags:
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- phosphobot
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- so100
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- phospho-dk
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task_categories:
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- robotics
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---
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# attilczuk/behavior_task16_upload
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**This dataset was generated using the [phospho cli](https://github.com/phospho-app/phosphobot)**
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More information on [robots.phospho.ai](https://robots.phospho.ai).
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This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
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annotations/task-0016/episode_00160010.json
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{
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"task_name": "moving boxes to storage",
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"data_folder": "",
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| 4 |
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"meta_data": {
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| 5 |
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"task_duration": 14988,
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"valid_duration": [0, 14988]
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},
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"skill_annotation": [
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{
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"skill_idx": 0,
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| 11 |
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"skill_id": [1],
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"skill_description": ["move to"],
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"object_id": [["door_bexenl_0"]],
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"manipulating_object_id": [],
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"memory_prefix": [],
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| 16 |
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"spatial_prefix": [],
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| 17 |
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"frame_duration": [0, 442],
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"mp_ef": [],
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"skill_type": ["navigation"]
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| 20 |
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},
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [10],
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"skill_description": ["open door"],
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"object_id": [["door_bexenl_0"]],
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"manipulating_object_id": [],
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| 27 |
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"memory_prefix": [],
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| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [447, 1692],
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"mp_ef": [],
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| 31 |
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"skill_type": ["uncoordinated"]
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| 32 |
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},
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{
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| 34 |
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"skill_idx": 2,
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| 35 |
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"skill_id": [1],
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"skill_description": ["move to"],
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| 37 |
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"object_id": [["storage_box_80"]],
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| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
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| 40 |
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [1692, 3261],
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"mp_ef": [],
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| 43 |
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"skill_type": ["navigation"]
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},
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{
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"skill_idx": 3,
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"skill_id": [2],
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"skill_description": ["pick up from"],
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
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"manipulating_object_id": ["storage_box_80"],
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
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| 53 |
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"frame_duration": [3351, 4156],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
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| 57 |
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{
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| 58 |
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"skill_idx": 4,
|
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"skill_id": [1],
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| 60 |
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"skill_description": ["move to"],
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"object_id": [["floors_nbxnpk_0"]],
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4157, 6693],
|
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
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| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
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"manipulating_object_id": ["storage_box_80"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [6754, 7691],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
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},
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| 81 |
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{
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| 82 |
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"skill_idx": 6,
|
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
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| 85 |
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"object_id": [["storage_box_79"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
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| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [7691, 9869],
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| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
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| 93 |
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{
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| 94 |
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"skill_idx": 7,
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| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
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| 97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
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| 98 |
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"manipulating_object_id": ["storage_box_79"],
|
| 99 |
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"memory_prefix": ["the other"],
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| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [9870, 11426],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
+
{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
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| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["storage_box_80"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["back"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [11427, 14154],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [3],
|
| 120 |
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"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14184, 14988],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
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"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1692],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1692, 7691],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7691, 14988],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
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}
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annotations/task-0016/episode_00160020.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12219,
|
| 6 |
+
"valid_duration": [0, 12219]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["door_bexenl_0"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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"spatial_prefix": [],
|
| 17 |
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"frame_duration": [0, 859],
|
| 18 |
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|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [10],
|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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"object_id": [["door_bexenl_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [860, 1577],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["storage_box_80"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1577, 2710],
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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|
| 49 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_80"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2740, 3717],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3717, 5547],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
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"manipulating_object_id": ["storage_box_80"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5547, 6117],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["storage_box_79"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6117, 8079],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
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"manipulating_object_id": ["storage_box_79"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [8079, 9101],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9102, 11338],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11338, 12219],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1577],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1577, 6117],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6117, 12219],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160030.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13050,
|
| 6 |
+
"valid_duration": [0, 13050]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 366],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [366, 1317],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1317, 2804],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2807, 3762],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3792, 5985],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5986, 6471],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6472, 8767],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9150, 10010],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10011, 12154],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12155, 13050],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1317],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1317, 6471],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6472, 13050],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160040.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12773,
|
| 6 |
+
"valid_duration": [187, 12960]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [187, 610],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [651, 1365],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1453, 3430],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3541, 4300],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4313, 6694],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6774, 7298],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7361, 9489],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9593, 10212],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10268, 12507],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12610, 12960],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [187, 1365],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1453, 7298],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7361, 12960],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160050.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12577,
|
| 6 |
+
"valid_duration": [0, 12577]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 547],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [547, 1369],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1369, 3001],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3002, 3748],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3748, 6140],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6140, 6505],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6505, 8754],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8754, 9244],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9245, 12029],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12029, 12577],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1369],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1369, 6505],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6505, 12577],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160060.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15079,
|
| 6 |
+
"valid_duration": [0, 15079]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 518],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [518, 1650],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1650, 3289],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3411, 4920],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4920, 6981],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7058, 7982],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7982, 10262],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10262, 11778],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11808, 14145],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14145, 15079],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1650],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1650, 7982],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7982, 15079],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160070.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15716,
|
| 6 |
+
"valid_duration": [0, 15716]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 920],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [973, 1793],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1793, 3439],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3439, 4921],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4931, 7159],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7254, 8080],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8080, 10289],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10289, 11616],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11616, 14116],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14116, 15716],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1793],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1793, 8080],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8080, 15716],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160080.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12352,
|
| 6 |
+
"valid_duration": [127, 12479]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [127, 205],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [205, 1035],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1050, 2715],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2715, 3672],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3673, 5437],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5437, 6058],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6058, 8277],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8278, 9567],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9567, 11769],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11769, 12479],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [127, 1035],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1050, 6058],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6058, 12479],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160090.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14927,
|
| 6 |
+
"valid_duration": [0, 14927]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 878],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [878, 1814],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1814, 3110],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3110, 4458],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4458, 6606],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6696, 7779],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7779, 10154],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10154, 11370],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11370, 14015],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14015, 14927],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1814],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1814, 7779],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7779, 14927],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160100.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13492,
|
| 6 |
+
"valid_duration": [95, 13587]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
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"frame_duration": [95, 728],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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"object_id": [["door_bexenl_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
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|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [729, 2489],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["storage_box_80"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
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|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2489, 3828],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_80"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3828, 5047],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5048, 7433],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
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"manipulating_object_id": ["storage_box_80"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [7440, 8191],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8280, 10160],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10161, 10910],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10911, 12920],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13040, 13587],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [95, 2489],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2489, 8191],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8280, 13587],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160120.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
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|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 18600,
|
| 6 |
+
"valid_duration": [0, 18600]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 916],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [916, 2651],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2651, 4325],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4325, 6527],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6527, 9692],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [9692, 10920],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [10935, 13866],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [13866, 14820],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [14820, 17943],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [17943, 18600],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2651],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2651, 10920],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [10935, 18600],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160130.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 18121,
|
| 6 |
+
"valid_duration": [0, 18121]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 636],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [681, 2203],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2203, 3997],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3997, 5247],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5248, 8857],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [8888, 9789],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [9789, 12741],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [12773, 13790],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [13854, 17215],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [17216, 18121],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2203],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2203, 9789],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [9789, 18121],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160140.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 19057,
|
| 6 |
+
"valid_duration": [120, 19177]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [120, 752],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [782, 2535],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2536, 5012],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5033, 6776],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6776, 9992],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [9992, 11072],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [11072, 13592],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [13652, 15122],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [15122, 18512],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [18512, 19177],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [120, 2535],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2536, 11072],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [11072, 19177],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160150.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 16101,
|
| 6 |
+
"valid_duration": [300, 16401]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [300, 631],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [634, 2159],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2166, 4373],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4373, 5582],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5583, 8537],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [8538, 9121],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [9122, 11361],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [11361, 12642],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [12643, 15667],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [15757, 16401],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [300, 2159],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2166, 9121],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [9122, 16401],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160160.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15360,
|
| 6 |
+
"valid_duration": [0, 15360]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 420],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [480, 1464],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1464, 3250],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3251, 4274],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4353, 6621],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6690, 7520],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7520, 9911],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9911, 11187],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11187, 14199],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14199, 15360],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1464],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1464, 7520],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7520, 15360],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160170.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13611,
|
| 6 |
+
"valid_duration": [0, 13611]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 483],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [483, 1292],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1293, 2844],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2844, 3969],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3970, 6330],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6330, 6997],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6997, 9316],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9316, 10308],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10308, 12710],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12711, 13611],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1292],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1293, 6997],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6997, 13611],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160180.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12954,
|
| 6 |
+
"valid_duration": [0, 12954]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 759],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [759, 1613],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1613, 3153],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3153, 3915],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3916, 6061],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6062, 6594],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6594, 8936],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8936, 9969],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9970, 12257],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12360, 12954],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1613],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1613, 6594],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6594, 12954],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160190.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13829,
|
| 6 |
+
"valid_duration": [0, 13829]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
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"frame_duration": [0, 593],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
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|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [624, 1568],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["storage_box_79"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
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|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1568, 3302],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_79"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3354, 3979],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3980, 6304],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
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"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6388, 6964],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6965, 9481],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9511, 10325],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10326, 12959],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12959, 13829],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1568],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1568, 6964],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6965, 13829],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160200.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13337,
|
| 6 |
+
"valid_duration": [0, 13337]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1020],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1020, 1808],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1808, 3236],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3236, 4183],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4183, 6521],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6521, 7081],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7105, 9319],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9320, 10104],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10104, 12418],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12484, 13337],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1808],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1808, 7081],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7105, 13337],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160210.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12753,
|
| 6 |
+
"valid_duration": [0, 12753]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 650],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [650, 1408],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1409, 2864],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2864, 3808],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3808, 6038],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6038, 6316],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6317, 8662],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8662, 9372],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9373, 12022],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12022, 12753],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1408],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1409, 6316],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6317, 12753],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160220.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13369,
|
| 6 |
+
"valid_duration": [1058, 14427]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [1058, 2246],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2445, 3645],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3650, 5178],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5178, 6049],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6185, 8238],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [8238, 8691],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8699, 10820],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10821, 11543],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11619, 13790],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13790, 14427],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [1058, 3645],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [3650, 8691],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8699, 14427],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160230.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12304,
|
| 6 |
+
"valid_duration": [59, 12363]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [59, 300],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [301, 1290],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1290, 2881],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2881, 3525],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3525, 5610],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5610, 6126],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6126, 8487],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8487, 9210],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9210, 11881],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11882, 12363],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [59, 1290],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1290, 6126],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6126, 12363],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160240.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13479,
|
| 6 |
+
"valid_duration": [0, 13479]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 510],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [540, 1230],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1230, 3120],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3123, 3846],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3849, 6096],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6096, 6630],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6630, 9276],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9276, 10347],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10347, 12745],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12747, 13479],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1230],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1230, 6630],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6630, 13479],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160260.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15306,
|
| 6 |
+
"valid_duration": [0, 15306]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1131],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1131, 1712],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1715, 3504],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3504, 4839],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4839, 7387],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7393, 8316],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8316, 10661],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10950, 11588],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11589, 14527],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14527, 15306],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1712],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1715, 8316],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8316, 15306],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160270.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13267,
|
| 6 |
+
"valid_duration": [0, 13267]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 511],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [512, 1216],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1217, 2878],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2878, 3790],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3791, 6189],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6189, 6727],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6793, 9315],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9318, 10002],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10002, 12916],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12916, 13267],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1216],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1217, 6727],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6793, 13267],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160280.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12858,
|
| 6 |
+
"valid_duration": [596, 13454]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["door_bexenl_0"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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"spatial_prefix": [],
|
| 17 |
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"frame_duration": [596, 1116],
|
| 18 |
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|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [10],
|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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"object_id": [["door_bexenl_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1236, 1897],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["storage_box_79"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1897, 3344],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_79"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3344, 4551],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4551, 6431],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
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"manipulating_object_id": ["storage_box_79"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [6462, 7135],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["storage_box_80"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7136, 9286],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
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"manipulating_object_id": ["storage_box_80"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9286, 10133],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10133, 12912],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12912, 13454],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [596, 1897],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1897, 7135],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7136, 13454],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160290.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12706,
|
| 6 |
+
"valid_duration": [0, 12706]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 766],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [766, 1477],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1478, 2829],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2829, 3801],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3801, 5902],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5903, 6512],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6570, 8724],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8724, 9577],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9577, 12121],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12122, 12706],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1477],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1478, 6512],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6570, 12706],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160300.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11975,
|
| 6 |
+
"valid_duration": [0, 11975]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 639],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [700, 1326],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1326, 2463],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2463, 3667],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3668, 5454],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5544, 5989],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5990, 7954],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7968, 8939],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8939, 11096],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11253, 11975],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1326],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1326, 5989],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [5990, 11975],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160310.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13437,
|
| 6 |
+
"valid_duration": [0, 13437]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 502],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [502, 1136],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1136, 2537],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2628, 3460],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3509, 5734],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5800, 6764],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6779, 8823],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8830, 9853],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9927, 12382],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12383, 13437],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1136],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1136, 6764],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6779, 13437],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160320.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15396,
|
| 6 |
+
"valid_duration": [0, 15396]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 863],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [894, 1803],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1803, 3208],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3208, 4676],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4738, 6881],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6912, 7774],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7774, 9757],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9758, 11343],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11343, 13667],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13679, 15396],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1803],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1803, 7774],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7774, 15396],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160330.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14755,
|
| 6 |
+
"valid_duration": [95, 14850]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [95, 1156],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1159, 1939],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1939, 3346],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3346, 4493],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4493, 6732],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6789, 7531],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7531, 9946],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9946, 11319],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11320, 13870],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13871, 14850],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [95, 1939],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1939, 7531],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7531, 14850],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160340.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15188,
|
| 6 |
+
"valid_duration": [0, 15188]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 565],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [565, 1379],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1439, 3054],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3055, 4430],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4431, 6570],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6571, 7593],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7611, 9876],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9876, 11234],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11234, 13845],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13845, 15188],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1379],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1439, 7593],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7611, 15188],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160350.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15128,
|
| 6 |
+
"valid_duration": [0, 15128]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1119],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1120, 2434],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2434, 3868],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3868, 5007],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5007, 7200],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7200, 8053],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8053, 10162],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10162, 11476],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11476, 13743],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13924, 15128],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2434],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2434, 8053],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8053, 15128],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160360.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14361,
|
| 6 |
+
"valid_duration": [0, 14361]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["door_bexenl_0"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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"spatial_prefix": [],
|
| 17 |
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"frame_duration": [0, 777],
|
| 18 |
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|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [10],
|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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"object_id": [["door_bexenl_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [777, 1801],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["storage_box_79"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
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|
| 40 |
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|
| 41 |
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"frame_duration": [1802, 3126],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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|
| 49 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_79"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3126, 4480],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4480, 6588],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
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"manipulating_object_id": ["storage_box_79"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6589, 7364],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7364, 9630],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9792, 10864],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10864, 13150],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13150, 14361],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1801],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1802, 7364],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7364, 14361],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160370.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13991,
|
| 6 |
+
"valid_duration": [0, 13991]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 475],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [505, 1544],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1544, 3224],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3254, 4350],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4395, 6660],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6660, 7279],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7280, 9545],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9545, 10458],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10504, 13329],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13330, 13991],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1544],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1544, 7279],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7280, 13991],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160380.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14928,
|
| 6 |
+
"valid_duration": [36, 14964]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [36, 621],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [622, 1654],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1654, 3189],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3189, 4340],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4340, 7066],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7067, 7553],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7586, 9965],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9972, 11142],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11143, 13729],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13729, 14964],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [36, 1654],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1654, 7553],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7586, 14964],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160390.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14540,
|
| 6 |
+
"valid_duration": [30, 14570]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 545],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [545, 1560],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1560, 3244],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_79"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3245, 4551],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4551, 6720],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6781, 7515],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7515, 9903],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9924, 11121],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11121, 13503],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13504, 14570],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [30, 1560],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1560, 7515],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7515, 14570],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160400.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15858,
|
| 6 |
+
"valid_duration": [53, 15911]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [53, 896],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [899, 2896],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2896, 5007],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5007, 6126],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6126, 8703],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [8703, 9209],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [9212, 11912],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [11912, 12511],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [12511, 15373],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [15373, 15911],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [53, 2896],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2896, 9209],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [9212, 15911],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160410.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 16560,
|
| 6 |
+
"valid_duration": [0, 16560]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 939],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [939, 2532],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2563, 4018],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4018, 5544],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5544, 7753],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7753, 9072],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [9072, 11220],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [11220, 13051],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [13051, 15705],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [15706, 16560],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2532],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2563, 9072],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [9072, 16560],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160420.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15729,
|
| 6 |
+
"valid_duration": [0, 15729]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 308],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [308, 1280],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1280, 2753],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2753, 4293],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4293, 6709],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6709, 7575],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7576, 9924],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9985, 11599],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11600, 14218],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14218, 15729],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1280],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1280, 7575],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7576, 15729],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160430.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 16539,
|
| 6 |
+
"valid_duration": [0, 16539]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1143],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1143, 2073],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2073, 3576],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3594, 4981],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4981, 7590],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7590, 8619],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8700, 11133],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [11133, 12519],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [12519, 15159],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [15160, 16539],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2073],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2073, 8619],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8700, 16539],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160440.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15781,
|
| 6 |
+
"valid_duration": [88, 15869]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [88, 1419],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1480, 2594],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2595, 4162],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_79"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4252, 5662],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5663, 7901],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7902, 8976],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8976, 11394],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [11395, 12717],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [12747, 14916],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14946, 15869],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [88, 2594],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2595, 8976],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8976, 15869],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160450.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15111,
|
| 6 |
+
"valid_duration": [0, 15111]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 446],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [446, 1466],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1466, 2912],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2912, 4226],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4226, 6392],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6392, 7109],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7109, 9572],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9596, 11012],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11012, 13892],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13916, 15111],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1466],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1466, 7109],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7109, 15111],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160460.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15318,
|
| 6 |
+
"valid_duration": [0, 15318]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 941],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [941, 1909],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1909, 3279],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3283, 4770],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4770, 7022],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7022, 8102],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8103, 10113],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10143, 11511],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11580, 13751],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13829, 15318],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1909],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1909, 8102],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8103, 15318],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160470.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 16914,
|
| 6 |
+
"valid_duration": [0, 16914]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["door_bexenl_0"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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"spatial_prefix": [],
|
| 17 |
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"frame_duration": [0, 767],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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"object_id": [["door_bexenl_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [767, 2024],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["storage_box_79"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
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|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2024, 3929],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_79"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3929, 5348],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5349, 7751],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
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"manipulating_object_id": ["storage_box_79"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [7800, 8641],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["storage_box_80"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [8641, 11095],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
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"manipulating_object_id": ["storage_box_80"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [11095, 12630],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [12630, 15350],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [15350, 16914],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2024],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2024, 8641],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8641, 16914],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160480.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14070,
|
| 6 |
+
"valid_duration": [0, 14070]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 636],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
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|
| 28 |
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|
| 29 |
+
"frame_duration": [666, 1596],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1596, 3126],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3135, 4213],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4243, 6301],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6301, 6937],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6937, 9496],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9496, 10500],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10500, 13147],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13147, 14070],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
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"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1596],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1596, 6937],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6937, 14070],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160490.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 16533,
|
| 6 |
+
"valid_duration": [0, 16533]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 690],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [690, 1619],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1620, 3217],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3217, 4589],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4590, 6848],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6849, 7759],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7759, 10304],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10305, 12014],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [12015, 14853],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [14853, 16533],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1619],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1620, 7759],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7759, 16533],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160500.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 17624,
|
| 6 |
+
"valid_duration": [0, 17624]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1299],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1300, 3015],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3015, 4645],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4706, 6063],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6063, 8620],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [8620, 9504],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [9504, 12189],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [12190, 13319],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [13319, 16824],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [16824, 17624],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 3015],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [3015, 9504],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [9504, 17624],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160510.json
ADDED
|
@@ -0,0 +1,165 @@
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11361,
|
| 6 |
+
"valid_duration": [30, 11391]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 286],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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|
| 29 |
+
"frame_duration": [287, 900],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [900, 2276],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2276, 2731],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2731, 4867],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4867, 5264],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5264, 7671],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7671, 8114],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8114, 10798],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10799, 11391],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [30, 900],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [900, 5264],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [5264, 11391],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|