Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- annotations/task-0000/episode_00000030.json +93 -0
- annotations/task-0000/episode_00000040.json +93 -0
- annotations/task-0000/episode_00000050.json +93 -0
- annotations/task-0000/episode_00000080.json +93 -0
- annotations/task-0000/episode_00000100.json +93 -0
- annotations/task-0000/episode_00000130.json +93 -0
- annotations/task-0000/episode_00000160.json +93 -0
- annotations/task-0000/episode_00000190.json +93 -0
- annotations/task-0000/episode_00000200.json +93 -0
- annotations/task-0000/episode_00000240.json +93 -0
- annotations/task-0000/episode_00000280.json +93 -0
- annotations/task-0000/episode_00000290.json +93 -0
- annotations/task-0000/episode_00000310.json +93 -0
- annotations/task-0000/episode_00000360.json +93 -0
- annotations/task-0000/episode_00000380.json +93 -0
- annotations/task-0000/episode_00000390.json +93 -0
- annotations/task-0000/episode_00000400.json +93 -0
- annotations/task-0000/episode_00000420.json +93 -0
- annotations/task-0000/episode_00000440.json +93 -0
- annotations/task-0000/episode_00000500.json +93 -0
- annotations/task-0000/episode_00000520.json +93 -0
- annotations/task-0000/episode_00000540.json +93 -0
- annotations/task-0000/episode_00000580.json +93 -0
- annotations/task-0000/episode_00000600.json +93 -0
- annotations/task-0000/episode_00000610.json +93 -0
- annotations/task-0000/episode_00000650.json +93 -0
- annotations/task-0000/episode_00000670.json +93 -0
- annotations/task-0000/episode_00000690.json +93 -0
- annotations/task-0000/episode_00000710.json +93 -0
- annotations/task-0000/episode_00000750.json +93 -0
- annotations/task-0000/episode_00000760.json +93 -0
- annotations/task-0000/episode_00000790.json +93 -0
- annotations/task-0000/episode_00000820.json +93 -0
- annotations/task-0000/episode_00000830.json +93 -0
- annotations/task-0000/episode_00000850.json +93 -0
- annotations/task-0000/episode_00000870.json +93 -0
- annotations/task-0000/episode_00000880.json +93 -0
- annotations/task-0000/episode_00000920.json +93 -0
- annotations/task-0000/episode_00000930.json +93 -0
- annotations/task-0000/episode_00000950.json +93 -0
- annotations/task-0000/episode_00000970.json +93 -0
- annotations/task-0000/episode_00000990.json +93 -0
- annotations/task-0000/episode_00001040.json +93 -0
- annotations/task-0000/episode_00001070.json +93 -0
- annotations/task-0000/episode_00001080.json +93 -0
- annotations/task-0000/episode_00001110.json +93 -0
- annotations/task-0000/episode_00001120.json +93 -0
- annotations/task-0000/episode_00001130.json +93 -0
- annotations/task-0000/episode_00001150.json +93 -0
- annotations/task-0000/episode_00001180.json +93 -0
annotations/task-0000/episode_00000030.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": 2038,
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"valid_duration": [0, 2038]
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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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"skill_id": [1],
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"skill_description": ["move to"],
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"object_id": [["radio_89"]],
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"frame_duration": [0, 211],
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"mp_ef": [],
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"skill_type": ["navigation"]
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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": [666, 999],
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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": [999, 1408],
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"mp_ef": [],
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"skill_type": ["coordinated"]
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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": [1416, 2038],
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"mp_ef": [],
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"skill_type": ["uncoordinated"]
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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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"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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{
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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": [999, 1408],
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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": [1416, 2038],
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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_00000040.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": 1839,
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| 6 |
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"valid_duration": [0, 1839]
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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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| 11 |
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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, 308],
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| 18 |
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"mp_ef": [],
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| 19 |
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"skill_type": ["navigation"]
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| 20 |
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| 21 |
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [2],
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| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 26 |
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"manipulating_object_id": ["radio_89"],
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| 27 |
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"memory_prefix": [],
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| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [308, 1118],
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| 30 |
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"mp_ef": [],
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| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
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| 33 |
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{
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| 34 |
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"skill_idx": 2,
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| 35 |
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"skill_id": [67],
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| 36 |
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"skill_description": ["press"],
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| 37 |
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"object_id": [["radio_89"]],
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| 38 |
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"manipulating_object_id": ["radio_89"],
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| 39 |
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"memory_prefix": [],
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| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1123, 1368],
|
| 42 |
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"mp_ef": [],
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| 43 |
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"skill_type": ["coordinated"]
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| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [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"],
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| 51 |
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"memory_prefix": ["back"],
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| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1369, 1839],
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| 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"],
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| 65 |
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"memory_prefix": [],
|
| 66 |
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"spatial_prefix": [],
|
| 67 |
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"frame_duration": [0, 1118],
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| 68 |
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"skill_idxes": [0, 1]
|
| 69 |
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},
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| 70 |
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{
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| 71 |
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"primitive_idx": 1,
|
| 72 |
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"primitive_id": [67],
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| 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": [1123, 1368],
|
| 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 |
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"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": [1369, 1839],
|
| 90 |
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"skill_idxes": [3]
|
| 91 |
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}
|
| 92 |
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]
|
| 93 |
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}
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annotations/task-0000/episode_00000050.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": 1484,
|
| 6 |
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"valid_duration": [0, 1484]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"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": [0, 360],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
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{
|
| 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": [360, 1021],
|
| 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": [1021, 1166],
|
| 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": [1166, 1484],
|
| 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, 1021],
|
| 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": [1021, 1166],
|
| 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": [1166, 1484],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000080.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2356,
|
| 6 |
+
"valid_duration": [0, 2356]
|
| 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, 334],
|
| 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": [844, 1473],
|
| 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": [1473, 1864],
|
| 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": [1865, 2356],
|
| 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, 1473],
|
| 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": [1473, 1864],
|
| 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": [1865, 2356],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000100.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2216,
|
| 6 |
+
"valid_duration": [0, 2216]
|
| 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, 598],
|
| 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": [598, 1477],
|
| 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": [1498, 1782],
|
| 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": [1782, 2216],
|
| 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, 1477],
|
| 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": [1498, 1782],
|
| 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": [1782, 2216],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000130.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2157,
|
| 6 |
+
"valid_duration": [0, 2157]
|
| 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, 546],
|
| 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": [906, 1354],
|
| 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, 1800],
|
| 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": [1800, 2157],
|
| 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, 1354],
|
| 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, 1800],
|
| 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": [1800, 2157],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000160.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2604,
|
| 6 |
+
"valid_duration": [0, 2604]
|
| 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, 702],
|
| 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": [702, 2003],
|
| 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": [2003, 2405],
|
| 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": [2405, 2604],
|
| 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, 2003],
|
| 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": [2003, 2405],
|
| 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": [2405, 2604],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000190.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2190,
|
| 6 |
+
"valid_duration": [0, 2190]
|
| 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, 424],
|
| 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": [424, 1413],
|
| 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": [1413, 1902],
|
| 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": [1902, 2190],
|
| 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, 1413],
|
| 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": [1413, 1902],
|
| 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": [1902, 2190],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000200.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2399,
|
| 6 |
+
"valid_duration": [0, 2399]
|
| 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, 530],
|
| 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": [531, 1992],
|
| 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": [1992, 2257],
|
| 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": [2257, 2399],
|
| 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, 1992],
|
| 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": [1992, 2257],
|
| 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": [2257, 2399],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000240.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1882,
|
| 6 |
+
"valid_duration": [0, 1882]
|
| 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, 404],
|
| 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": [404, 1068],
|
| 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": [1068, 1552],
|
| 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": [1552, 1882],
|
| 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, 1068],
|
| 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": [1068, 1552],
|
| 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": [1552, 1882],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000280.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2175,
|
| 6 |
+
"valid_duration": [0, 2175]
|
| 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, 710],
|
| 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": [710, 1436],
|
| 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": [1436, 1786],
|
| 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": [1786, 2175],
|
| 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, 1436],
|
| 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": [1436, 1786],
|
| 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": [1786, 2175],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000290.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1860,
|
| 6 |
+
"valid_duration": [0, 1860]
|
| 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, 789],
|
| 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": [789, 1257],
|
| 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": [1257, 1564],
|
| 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": [1564, 1860],
|
| 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, 1257],
|
| 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": [1257, 1564],
|
| 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": [1564, 1860],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000310.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2545,
|
| 6 |
+
"valid_duration": [0, 2545]
|
| 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, 789],
|
| 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": [789, 1729],
|
| 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": [1729, 2094],
|
| 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": [2094, 2545],
|
| 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, 1729],
|
| 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": [1729, 2094],
|
| 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": [2094, 2545],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000360.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2514,
|
| 6 |
+
"valid_duration": [0, 2514]
|
| 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, 699],
|
| 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": [741, 1654],
|
| 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": [1654, 2057],
|
| 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": [2057, 2514],
|
| 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, 1654],
|
| 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": [1654, 2057],
|
| 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": [2057, 2514],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000380.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, 430],
|
| 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": [431, 1010],
|
| 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": [1010, 1293],
|
| 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": [1293, 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, 1010],
|
| 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": [1010, 1293],
|
| 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": [1293, 1696],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000390.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2160,
|
| 6 |
+
"valid_duration": [0, 2160]
|
| 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, 656],
|
| 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": [656, 1649],
|
| 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": [1649, 1902],
|
| 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": [1903, 2160],
|
| 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, 1649],
|
| 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": [1649, 1902],
|
| 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": [1903, 2160],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000400.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2164,
|
| 6 |
+
"valid_duration": [0, 2164]
|
| 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, 798],
|
| 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": [798, 1546],
|
| 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": [1546, 1762],
|
| 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": [1762, 2164],
|
| 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, 1546],
|
| 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": [1546, 1762],
|
| 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": [1762, 2164],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000420.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2162,
|
| 6 |
+
"valid_duration": [0, 2162]
|
| 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, 649],
|
| 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": [649, 1521],
|
| 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": [1522, 1852],
|
| 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": [1853, 2162],
|
| 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, 1521],
|
| 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": [1522, 1852],
|
| 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": [1853, 2162],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000440.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2181,
|
| 6 |
+
"valid_duration": [0, 2181]
|
| 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, 440],
|
| 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": [440, 1465],
|
| 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": [1466, 1698],
|
| 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": [1699, 2181],
|
| 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, 1465],
|
| 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": [1466, 1698],
|
| 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": [1699, 2181],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000500.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1908,
|
| 6 |
+
"valid_duration": [0, 1908]
|
| 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, 452],
|
| 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": [452, 1211],
|
| 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": [1211, 1495],
|
| 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": [1495, 1908],
|
| 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, 1211],
|
| 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": [1211, 1495],
|
| 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": [1495, 1908],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000520.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2511,
|
| 6 |
+
"valid_duration": [30, 2541]
|
| 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": [30, 969],
|
| 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": [969, 1832],
|
| 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": [1832, 2135],
|
| 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": [2135, 2541],
|
| 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": [30, 1832],
|
| 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": [1832, 2135],
|
| 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": [2135, 2541],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000540.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2104,
|
| 6 |
+
"valid_duration": [0, 2104]
|
| 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": [643, 1573],
|
| 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": [1573, 1805],
|
| 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": [1805, 2104],
|
| 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, 1573],
|
| 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": [1573, 1805],
|
| 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": [1805, 2104],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000580.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2573,
|
| 6 |
+
"valid_duration": [0, 2573]
|
| 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, 862],
|
| 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": [862, 1649],
|
| 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": [1649, 2050],
|
| 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": [2050, 2573],
|
| 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, 1649],
|
| 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": [1649, 2050],
|
| 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": [2050, 2573],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000600.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1676,
|
| 6 |
+
"valid_duration": [0, 1676]
|
| 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, 666],
|
| 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": [666, 1222],
|
| 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": [1222, 1378],
|
| 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": [1378, 1676],
|
| 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, 1222],
|
| 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": [1222, 1378],
|
| 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": [1378, 1676],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000610.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2775,
|
| 6 |
+
"valid_duration": [0, 2775]
|
| 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, 1211],
|
| 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": [1211, 2064],
|
| 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": [2064, 2221],
|
| 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": [2221, 2775],
|
| 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, 2064],
|
| 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": [2064, 2221],
|
| 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": [2221, 2775],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000650.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2363,
|
| 6 |
+
"valid_duration": [0, 2363]
|
| 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, 650],
|
| 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": [650, 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, 1636],
|
| 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": [1636, 2363],
|
| 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, 1636],
|
| 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": [1636, 2363],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000670.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1886,
|
| 6 |
+
"valid_duration": [0, 1886]
|
| 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, 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": [352, 1219],
|
| 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": [1219, 1433],
|
| 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": [1433, 1886],
|
| 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, 1219],
|
| 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": [1219, 1433],
|
| 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": [1433, 1886],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000690.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1971,
|
| 6 |
+
"valid_duration": [33, 2004]
|
| 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": [33, 471],
|
| 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": [471, 1117],
|
| 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": [1117, 1379],
|
| 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": [1380, 2004],
|
| 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": [33, 1117],
|
| 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": [1117, 1379],
|
| 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": [1380, 2004],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000710.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2065,
|
| 6 |
+
"valid_duration": [0, 2065]
|
| 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, 317],
|
| 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": [318, 1033],
|
| 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": [1033, 1394],
|
| 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": [1394, 2065],
|
| 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, 1033],
|
| 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": [1033, 1394],
|
| 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": [1394, 2065],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000750.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2406,
|
| 6 |
+
"valid_duration": [0, 2406]
|
| 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, 626],
|
| 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": [626, 1564],
|
| 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": [1564, 1954],
|
| 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": [1954, 2406],
|
| 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, 1564],
|
| 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": [1564, 1954],
|
| 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": [1954, 2406],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000760.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2698,
|
| 6 |
+
"valid_duration": [30, 2728]
|
| 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": [30, 479],
|
| 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": [479, 1804],
|
| 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": [1804, 2093],
|
| 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": [2093, 2728],
|
| 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": [30, 1804],
|
| 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": [1804, 2093],
|
| 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": [2093, 2728],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000790.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2567,
|
| 6 |
+
"valid_duration": [0, 2567]
|
| 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, 841],
|
| 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": [841, 1502],
|
| 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": [1503, 1865],
|
| 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": [1866, 2567],
|
| 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, 1502],
|
| 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": [1503, 1865],
|
| 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": [1866, 2567],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000820.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2130,
|
| 6 |
+
"valid_duration": [0, 2130]
|
| 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, 700],
|
| 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": [733, 1485],
|
| 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": [1485, 1620],
|
| 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": [1620, 2130],
|
| 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, 1485],
|
| 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": [1485, 1620],
|
| 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": [1620, 2130],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000830.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1956,
|
| 6 |
+
"valid_duration": [0, 1956]
|
| 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, 486],
|
| 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": [486, 1275],
|
| 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": [1275, 1490],
|
| 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": [1490, 1956],
|
| 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, 1275],
|
| 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": [1275, 1490],
|
| 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": [1490, 1956],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000850.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2614,
|
| 6 |
+
"valid_duration": [0, 2614]
|
| 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, 656],
|
| 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": [656, 1630],
|
| 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, 2120],
|
| 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": [2120, 2614],
|
| 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, 1630],
|
| 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, 2120],
|
| 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": [2120, 2614],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000870.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2730,
|
| 6 |
+
"valid_duration": [0, 2730]
|
| 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, 318],
|
| 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, 1475],
|
| 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": [1484, 2005],
|
| 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": [2008, 2730],
|
| 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, 1475],
|
| 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": [1484, 2005],
|
| 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": [2008, 2730],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000880.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2367,
|
| 6 |
+
"valid_duration": [0, 2367]
|
| 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, 714],
|
| 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": [1307, 1750],
|
| 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": [1758, 2008],
|
| 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": [2008, 2367],
|
| 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, 1750],
|
| 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": [1758, 2008],
|
| 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": [2008, 2367],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000920.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1918,
|
| 6 |
+
"valid_duration": [30, 1948]
|
| 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": [30, 355],
|
| 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": [355, 1340],
|
| 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": [1340, 1592],
|
| 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": [1592, 1948],
|
| 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": [30, 1340],
|
| 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": [1340, 1592],
|
| 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": [1592, 1948],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000930.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3225,
|
| 6 |
+
"valid_duration": [0, 3225]
|
| 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, 625],
|
| 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": [626, 2258],
|
| 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": [2259, 2520],
|
| 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": [2521, 3225],
|
| 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, 2258],
|
| 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": [2259, 2520],
|
| 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": [2521, 3225],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000950.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1916,
|
| 6 |
+
"valid_duration": [0, 1916]
|
| 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, 393],
|
| 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": [393, 1359],
|
| 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": [1359, 1566],
|
| 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": [1566, 1916],
|
| 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, 1359],
|
| 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": [1359, 1566],
|
| 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": [1566, 1916],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000970.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2251,
|
| 6 |
+
"valid_duration": [0, 2251]
|
| 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, 467],
|
| 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": [467, 1305],
|
| 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": [1305, 1687],
|
| 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": [1687, 2251],
|
| 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, 1305],
|
| 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": [1305, 1687],
|
| 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": [1687, 2251],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000990.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1714,
|
| 6 |
+
"valid_duration": [0, 1714]
|
| 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, 662],
|
| 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": [663, 1211],
|
| 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": [1211, 1440],
|
| 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": [1440, 1714],
|
| 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, 1211],
|
| 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": [1211, 1440],
|
| 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": [1440, 1714],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001040.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4260,
|
| 6 |
+
"valid_duration": [0, 4260]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["coffee_table_koagbh_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 893],
|
| 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": [1200, 2059],
|
| 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": [2060, 3135],
|
| 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": [3135, 4260],
|
| 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, 2059],
|
| 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": [2060, 3135],
|
| 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": [3135, 4260],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001070.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2394,
|
| 6 |
+
"valid_duration": [0, 2394]
|
| 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, 701],
|
| 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": [701, 1362],
|
| 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": [1362, 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, 2394],
|
| 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, 1362],
|
| 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": [1362, 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, 2394],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001080.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3328,
|
| 6 |
+
"valid_duration": [0, 3328]
|
| 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, 918],
|
| 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": [918, 2375],
|
| 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": [2375, 2602],
|
| 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": [2602, 3328],
|
| 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, 2375],
|
| 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": [2375, 2602],
|
| 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": [2602, 3328],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001110.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, 310],
|
| 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": [311, 1398],
|
| 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": [1398, 1556],
|
| 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": [1556, 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, 1398],
|
| 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": [1398, 1556],
|
| 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": [1556, 1896],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001120.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3165,
|
| 6 |
+
"valid_duration": [229, 3394]
|
| 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": [229, 1249],
|
| 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": [1344, 2359],
|
| 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": [2360, 2785],
|
| 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": [2786, 3394],
|
| 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": [229, 2359],
|
| 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": [2360, 2785],
|
| 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": [2786, 3394],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001130.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3000,
|
| 6 |
+
"valid_duration": [0, 3000]
|
| 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, 651],
|
| 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": [900, 1702],
|
| 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": [1702, 2313],
|
| 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": [2314, 3000],
|
| 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, 1702],
|
| 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": [1702, 2313],
|
| 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": [2314, 3000],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001150.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2007,
|
| 6 |
+
"valid_duration": [0, 2007]
|
| 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, 435],
|
| 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": [436, 1362],
|
| 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": [1364, 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": [1720, 2007],
|
| 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, 1362],
|
| 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": [1364, 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": [1720, 2007],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001180.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": 3108,
|
| 6 |
+
"valid_duration": [0, 3108]
|
| 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, 1201],
|
| 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": [1201, 2064],
|
| 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": [2064, 2352],
|
| 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": [2353, 3108],
|
| 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, 2064],
|
| 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": [2064, 2352],
|
| 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": [2353, 3108],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|