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- annotations/task-0000/episode_00000010.json +93 -0
- annotations/task-0000/episode_00000020.json +93 -0
- annotations/task-0000/episode_00000060.json +93 -0
- annotations/task-0000/episode_00000070.json +93 -0
- annotations/task-0000/episode_00000110.json +93 -0
- annotations/task-0000/episode_00000140.json +93 -0
- annotations/task-0000/episode_00000170.json +93 -0
- annotations/task-0000/episode_00000230.json +93 -0
- annotations/task-0000/episode_00000300.json +93 -0
- annotations/task-0000/episode_00000320.json +93 -0
- annotations/task-0000/episode_00000340.json +93 -0
- annotations/task-0000/episode_00000350.json +93 -0
- annotations/task-0000/episode_00000370.json +93 -0
- annotations/task-0000/episode_00000410.json +93 -0
- annotations/task-0000/episode_00000430.json +93 -0
- annotations/task-0000/episode_00000460.json +93 -0
- annotations/task-0000/episode_00000470.json +93 -0
- annotations/task-0000/episode_00000510.json +93 -0
- annotations/task-0000/episode_00000530.json +93 -0
- annotations/task-0000/episode_00000590.json +93 -0
- annotations/task-0000/episode_00000660.json +93 -0
- annotations/task-0000/episode_00000680.json +93 -0
- annotations/task-0000/episode_00000700.json +93 -0
- annotations/task-0000/episode_00000720.json +93 -0
- annotations/task-0000/episode_00000730.json +93 -0
- annotations/task-0000/episode_00000740.json +93 -0
- annotations/task-0000/episode_00000770.json +93 -0
- annotations/task-0000/episode_00000810.json +93 -0
- annotations/task-0000/episode_00000910.json +93 -0
- annotations/task-0000/episode_00000960.json +93 -0
- annotations/task-0000/episode_00000980.json +93 -0
- annotations/task-0000/episode_00001170.json +93 -0
- annotations/task-0000/episode_00001230.json +93 -0
- annotations/task-0000/episode_00001270.json +93 -0
- annotations/task-0000/episode_00001440.json +93 -0
- annotations/task-0000/episode_00001490.json +93 -0
- annotations/task-0000/episode_00001630.json +93 -0
- annotations/task-0000/episode_00001640.json +93 -0
- annotations/task-0000/episode_00001660.json +93 -0
- annotations/task-0000/episode_00001780.json +93 -0
- annotations/task-0000/episode_00001840.json +93 -0
- annotations/task-0000/episode_00001940.json +93 -0
- annotations/task-0000/episode_00002090.json +93 -0
- annotations/task-0000/episode_00002560.json +93 -0
- annotations/task-0000/episode_00002610.json +93 -0
- annotations/task-0000/episode_00002620.json +93 -0
- annotations/task-0000/episode_00002630.json +93 -0
- annotations/task-0000/episode_00002760.json +93 -0
- annotations/task-0000/episode_00002790.json +93 -0
- annotations/task-0000/episode_00002800.json +93 -0
annotations/task-0000/episode_00000010.json
ADDED
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{
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"task_name": "turning on radio",
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"data_folder": "",
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"meta_data": {
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"task_duration": 1776,
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"valid_duration": [0, 1776]
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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": [["radio_89"]],
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"manipulating_object_id": [],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [0, 265],
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"mp_ef": [],
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"skill_type": ["navigation"]
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},
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{
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"skill_idx": 1,
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"skill_id": [2],
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"skill_description": ["pick up from"],
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [265, 1162],
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"mp_ef": [],
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"skill_type": ["uncoordinated"]
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},
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{
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"skill_idx": 2,
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"skill_id": [67],
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"skill_description": ["press"],
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"object_id": [["radio_89"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [1162, 1434],
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"mp_ef": [],
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"skill_type": ["coordinated"]
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},
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{
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"skill_idx": 3,
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"skill_id": [3],
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"skill_description": ["place on"],
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": ["back"],
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"spatial_prefix": [],
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"frame_duration": [1434, 1776],
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"mp_ef": [],
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"skill_type": ["uncoordinated"]
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}
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],
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"primitive_annotation": [
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{
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"primitive_idx": 0,
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| 61 |
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"primitive_id": [2],
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"primitive_description": ["pick up from"],
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [0, 1162],
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"skill_idxes": [0, 1]
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},
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{
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"primitive_idx": 1,
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"primitive_id": [67],
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"primitive_description": ["press"],
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"object_id": [["radio_89"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [1162, 1434],
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"skill_idxes": [2]
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},
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{
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| 82 |
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"primitive_idx": 2,
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| 83 |
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"primitive_id": [3],
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| 84 |
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"primitive_description": ["place on"],
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| 85 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 86 |
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"manipulating_object_id": ["radio_89"],
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| 87 |
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"memory_prefix": ["back"],
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| 88 |
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"spatial_prefix": [],
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| 89 |
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"frame_duration": [1434, 1776],
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"skill_idxes": [3]
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}
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]
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}
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annotations/task-0000/episode_00000020.json
ADDED
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@@ -0,0 +1,93 @@
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{
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| 2 |
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"task_name": "turning on radio",
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| 3 |
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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": 2001,
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| 6 |
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"valid_duration": [0, 2001]
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| 7 |
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},
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| 8 |
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"skill_annotation": [
|
| 9 |
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{
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| 10 |
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"skill_idx": 0,
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| 11 |
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"skill_id": [1],
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["radio_89"]],
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| 14 |
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"manipulating_object_id": [],
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| 15 |
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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, 376],
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| 18 |
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"mp_ef": [],
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| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
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| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
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"manipulating_object_id": ["radio_89"],
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| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [],
|
| 29 |
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"frame_duration": [376, 1223],
|
| 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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{
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| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [67],
|
| 36 |
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"skill_description": ["press"],
|
| 37 |
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"object_id": [["radio_89"]],
|
| 38 |
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"manipulating_object_id": ["radio_89"],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1224, 1523],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["coordinated"]
|
| 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": [3],
|
| 48 |
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"skill_description": ["place on"],
|
| 49 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
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"manipulating_object_id": ["radio_89"],
|
| 51 |
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"memory_prefix": ["back"],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1545, 2001],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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}
|
| 57 |
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],
|
| 58 |
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"primitive_annotation": [
|
| 59 |
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{
|
| 60 |
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"primitive_idx": 0,
|
| 61 |
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"primitive_id": [2],
|
| 62 |
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"primitive_description": ["pick up from"],
|
| 63 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
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"manipulating_object_id": ["radio_89"],
|
| 65 |
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"memory_prefix": [],
|
| 66 |
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"spatial_prefix": [],
|
| 67 |
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"frame_duration": [0, 1223],
|
| 68 |
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"skill_idxes": [0, 1]
|
| 69 |
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},
|
| 70 |
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{
|
| 71 |
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"primitive_idx": 1,
|
| 72 |
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"primitive_id": [67],
|
| 73 |
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"primitive_description": ["press"],
|
| 74 |
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"object_id": [["radio_89"]],
|
| 75 |
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"manipulating_object_id": ["radio_89"],
|
| 76 |
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"memory_prefix": [],
|
| 77 |
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"spatial_prefix": [],
|
| 78 |
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"frame_duration": [1224, 1523],
|
| 79 |
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"skill_idxes": [2]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"primitive_idx": 2,
|
| 83 |
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"primitive_id": [3],
|
| 84 |
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"primitive_description": ["place on"],
|
| 85 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
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"memory_prefix": ["back"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [1545, 2001],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
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}
|
| 92 |
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]
|
| 93 |
+
}
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annotations/task-0000/episode_00000060.json
ADDED
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| 1 |
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{
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| 2 |
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"task_name": "turning on radio",
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| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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"task_duration": 2529,
|
| 6 |
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"valid_duration": [576, 3105]
|
| 7 |
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},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [576, 1443],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1443, 2390],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2390, 2644],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2644, 3105],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [576, 2390],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2390, 2644],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2644, 3105],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000070.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2253,
|
| 6 |
+
"valid_duration": [0, 2253]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 320],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [320, 1479],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1479, 1662],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1662, 2253],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1479],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1479, 1662],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1662, 2253],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000110.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2247,
|
| 6 |
+
"valid_duration": [0, 2247]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 865],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [866, 1557],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1557, 1994],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1994, 2247],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1557],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1557, 1994],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1994, 2247],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000140.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1985,
|
| 6 |
+
"valid_duration": [6, 1991]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [6, 1033],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1034, 1601],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1601, 1802],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1803, 1991],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [6, 1601],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1601, 1802],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1803, 1991],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000170.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2375,
|
| 6 |
+
"valid_duration": [0, 2375]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 426],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [456, 1527],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1527, 1967],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1967, 2375],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1527],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1527, 1967],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1967, 2375],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000230.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1896,
|
| 6 |
+
"valid_duration": [0, 1896]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 538],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [538, 1348],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1348, 1621],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1621, 1896],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1348],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1348, 1621],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1621, 1896],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000300.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1696,
|
| 6 |
+
"valid_duration": [0, 1696]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 306],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [306, 1165],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1165, 1464],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1465, 1696],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1165],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1165, 1464],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1465, 1696],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000320.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2565,
|
| 6 |
+
"valid_duration": [0, 2565]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 779],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [850, 2052],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2052, 2261],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2261, 2565],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2052],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2052, 2261],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2261, 2565],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000340.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1608,
|
| 6 |
+
"valid_duration": [0, 1608]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 371],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [371, 1036],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1036, 1280],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1280, 1608],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1036],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1036, 1280],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1280, 1608],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000350.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1782,
|
| 6 |
+
"valid_duration": [15, 1797]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [15, 351],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [601, 1153],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1154, 1492],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1492, 1797],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [15, 1153],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1154, 1492],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1492, 1797],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000370.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1554,
|
| 6 |
+
"valid_duration": [0, 1554]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 267],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [297, 856],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [856, 1094],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1094, 1554],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 856],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [856, 1094],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1094, 1554],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000410.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1898,
|
| 6 |
+
"valid_duration": [0, 1898]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 813],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [813, 1482],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1482, 1651],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1651, 1898],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1482],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1482, 1651],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1651, 1898],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000430.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2121,
|
| 6 |
+
"valid_duration": [0, 2121]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 629],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [630, 1513],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1513, 1719],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1719, 2121],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1513],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1513, 1719],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1719, 2121],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000460.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2497,
|
| 6 |
+
"valid_duration": [0, 2497]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 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": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1186, 1732],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1732, 2082],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2082, 2497],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1732],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1732, 2082],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2082, 2497],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000470.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2461,
|
| 6 |
+
"valid_duration": [0, 2461]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 996],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [997, 1830],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1830, 2111],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2111, 2461],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1830],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1830, 2111],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2111, 2461],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000510.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2266,
|
| 6 |
+
"valid_duration": [0, 2266]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 563],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [563, 1640],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1640, 1875],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1875, 2266],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1640],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1640, 1875],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1875, 2266],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000530.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1786,
|
| 6 |
+
"valid_duration": [0, 1786]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 515],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [515, 1317],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1330, 1506],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1506, 1786],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1317],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1330, 1506],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1506, 1786],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000590.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1767,
|
| 6 |
+
"valid_duration": [72, 1839]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [72, 411],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [450, 1193],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1193, 1438],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1439, 1839],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [72, 1193],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1193, 1438],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1439, 1839],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000660.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1996,
|
| 6 |
+
"valid_duration": [0, 1996]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 580],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [580, 1126],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1126, 1324],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1324, 1996],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1126],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1126, 1324],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1324, 1996],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000680.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2068,
|
| 6 |
+
"valid_duration": [0, 2068]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 576],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [854, 1421],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1421, 1685],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1685, 2068],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1421],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1421, 1685],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1685, 2068],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000700.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2346,
|
| 6 |
+
"valid_duration": [0, 2346]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 449],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [832, 1168],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1170, 1610],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1617, 2346],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1168],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1170, 1610],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1617, 2346],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000720.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2143,
|
| 6 |
+
"valid_duration": [0, 2143]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 538],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [538, 1467],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1467, 1697],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1698, 2143],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1467],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1467, 1697],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1698, 2143],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000730.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1966,
|
| 6 |
+
"valid_duration": [0, 1966]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 120],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [120, 1171],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1171, 1424],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1424, 1966],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1171],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1171, 1424],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1424, 1966],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000740.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2398,
|
| 6 |
+
"valid_duration": [0, 2398]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 642],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [996, 1350],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1350, 1653],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1653, 2398],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1350],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1350, 1653],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1653, 2398],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000770.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2299,
|
| 6 |
+
"valid_duration": [0, 2299]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 582],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [582, 1299],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1300, 1700],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1700, 2299],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1299],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1300, 1700],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1700, 2299],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000810.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2705,
|
| 6 |
+
"valid_duration": [0, 2705]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1181],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1182, 2012],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2012, 2338],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2397, 2705],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2012],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2012, 2338],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2397, 2705],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000910.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2538,
|
| 6 |
+
"valid_duration": [0, 2538]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 642],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [642, 1680],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1680, 2052],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2052, 2538],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1680],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1680, 2052],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2052, 2538],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000960.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2343,
|
| 6 |
+
"valid_duration": [0, 2343]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 275],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [275, 1325],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1325, 1667],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1667, 2343],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1325],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1325, 1667],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1667, 2343],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000980.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2414,
|
| 6 |
+
"valid_duration": [0, 2414]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1004],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1004, 1738],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1738, 2006],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2006, 2414],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1738],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1738, 2006],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2006, 2414],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001170.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2412,
|
| 6 |
+
"valid_duration": [0, 2412]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 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": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [429, 1278],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1278, 1890],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1890, 2412],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1278],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1278, 1890],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1890, 2412],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001230.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1226,
|
| 6 |
+
"valid_duration": [53, 1279]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [53, 123],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [124, 611],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [611, 859],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [860, 1279],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [53, 611],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [611, 859],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [860, 1279],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001270.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1574,
|
| 6 |
+
"valid_duration": [0, 1574]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 369],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [369, 1131],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1131, 1431],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1431, 1574],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1131],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1131, 1431],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1431, 1574],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001440.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1004,
|
| 6 |
+
"valid_duration": [0, 1004]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 101],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [108, 703],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [703, 849],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [849, 1004],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 703],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [703, 849],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [849, 1004],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001490.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1995,
|
| 6 |
+
"valid_duration": [0, 1995]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 564],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [564, 1607],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1607, 1790],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1791, 1995],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1607],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1607, 1790],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1791, 1995],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001630.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1543,
|
| 6 |
+
"valid_duration": [0, 1543]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 498],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [498, 1002],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1002, 1268],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1278, 1543],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1002],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1002, 1268],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1278, 1543],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001640.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1313,
|
| 6 |
+
"valid_duration": [53, 1366]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [53, 170],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [170, 834],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [834, 1002],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1003, 1366],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [53, 834],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [834, 1002],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1003, 1366],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001660.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1130,
|
| 6 |
+
"valid_duration": [0, 1130]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 145],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [146, 709],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [709, 871],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [871, 1130],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 709],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [709, 871],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [871, 1130],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001780.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1193,
|
| 6 |
+
"valid_duration": [0, 1193]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 381],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [381, 852],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [852, 949],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [949, 1193],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 852],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [852, 949],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [949, 1193],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001840.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1448,
|
| 6 |
+
"valid_duration": [40, 1488]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [40, 620],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [620, 1083],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1084, 1176],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1176, 1488],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [40, 1083],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1084, 1176],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1176, 1488],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001940.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1240,
|
| 6 |
+
"valid_duration": [70, 1310]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [70, 337],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [337, 870],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [870, 1026],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1027, 1310],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [70, 870],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [870, 1026],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1027, 1310],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002090.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2556,
|
| 6 |
+
"valid_duration": [0, 2556]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 981],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1048, 1764],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1764, 2111],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2111, 2556],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1764],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1764, 2111],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2111, 2556],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002560.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1782,
|
| 6 |
+
"valid_duration": [0, 1782]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 198],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [198, 1130],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1131, 1346],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1346, 1782],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1130],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1131, 1346],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1346, 1782],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002610.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1889,
|
| 6 |
+
"valid_duration": [0, 1889]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 585],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [585, 1151],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1151, 1447],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1447, 1889],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1151],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1151, 1447],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1447, 1889],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002620.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1975,
|
| 6 |
+
"valid_duration": [0, 1975]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 111],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [118, 1407],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1407, 1671],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1677, 1975],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1407],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1407, 1671],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1677, 1975],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002630.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1195,
|
| 6 |
+
"valid_duration": [0, 1195]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 280],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [280, 873],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [873, 1026],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1027, 1195],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 873],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [873, 1026],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1027, 1195],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002760.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1283,
|
| 6 |
+
"valid_duration": [0, 1283]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 336],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [336, 917],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [918, 1043],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1044, 1283],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 917],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [918, 1043],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1044, 1283],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002790.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1803,
|
| 6 |
+
"valid_duration": [0, 1803]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 273],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [273, 1206],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1206, 1443],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1443, 1803],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1206],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1206, 1443],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1443, 1803],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002800.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1699,
|
| 6 |
+
"valid_duration": [0, 1699]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 196],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [196, 1104],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1105, 1292],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1292, 1699],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1104],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1105, 1292],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1292, 1699],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|