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_00000040.json +93 -0
- annotations/task-0000/episode_00000050.json +93 -0
- annotations/task-0000/episode_00000060.json +93 -0
- annotations/task-0000/episode_00000070.json +93 -0
- annotations/task-0000/episode_00000080.json +93 -0
- annotations/task-0000/episode_00000100.json +93 -0
- annotations/task-0000/episode_00000110.json +93 -0
- annotations/task-0000/episode_00000120.json +93 -0
- annotations/task-0000/episode_00000130.json +93 -0
- annotations/task-0000/episode_00000140.json +93 -0
- annotations/task-0000/episode_00000240.json +93 -0
- annotations/task-0000/episode_00000250.json +93 -0
- annotations/task-0000/episode_00000260.json +93 -0
- annotations/task-0000/episode_00000270.json +93 -0
- annotations/task-0000/episode_00000300.json +93 -0
- annotations/task-0000/episode_00000310.json +93 -0
- annotations/task-0000/episode_00000320.json +93 -0
- annotations/task-0000/episode_00000330.json +93 -0
- annotations/task-0000/episode_00000390.json +93 -0
- annotations/task-0000/episode_00000440.json +93 -0
- annotations/task-0000/episode_00000450.json +93 -0
- annotations/task-0000/episode_00000460.json +93 -0
- annotations/task-0000/episode_00000480.json +93 -0
- annotations/task-0000/episode_00000490.json +93 -0
- annotations/task-0000/episode_00000500.json +93 -0
- annotations/task-0000/episode_00000510.json +93 -0
- annotations/task-0000/episode_00000520.json +93 -0
- annotations/task-0000/episode_00000530.json +93 -0
- annotations/task-0000/episode_00000640.json +93 -0
- annotations/task-0000/episode_00000650.json +93 -0
- annotations/task-0000/episode_00000660.json +93 -0
- annotations/task-0000/episode_00000670.json +93 -0
- annotations/task-0000/episode_00000680.json +93 -0
- annotations/task-0000/episode_00000690.json +93 -0
- annotations/task-0000/episode_00000710.json +93 -0
- annotations/task-0000/episode_00000720.json +93 -0
- annotations/task-0000/episode_00000730.json +93 -0
- annotations/task-0000/episode_00000800.json +93 -0
- annotations/task-0000/episode_00000810.json +93 -0
- annotations/task-0000/episode_00000820.json +93 -0
- annotations/task-0000/episode_00000830.json +93 -0
- annotations/task-0000/episode_00000940.json +93 -0
- annotations/task-0000/episode_00000950.json +93 -0
- annotations/task-0000/episode_00000960.json +93 -0
- annotations/task-0000/episode_00000970.json +93 -0
- annotations/task-0000/episode_00000980.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_00000040.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1839,
|
| 6 |
+
"valid_duration": [0, 1839]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 308],
|
| 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": [308, 1118],
|
| 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": [1123, 1368],
|
| 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": [1369, 1839],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1118],
|
| 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": [1123, 1368],
|
| 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": [1369, 1839],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000050.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1484,
|
| 6 |
+
"valid_duration": [0, 1484]
|
| 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, 360],
|
| 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": [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_00000060.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2529,
|
| 6 |
+
"valid_duration": [576, 3105]
|
| 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": [576, 1443],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1443, 2390],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2390, 2644],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2644, 3105],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [576, 2390],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2390, 2644],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2644, 3105],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000070.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2253,
|
| 6 |
+
"valid_duration": [0, 2253]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 320],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [320, 1479],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1479, 1662],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1662, 2253],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1479],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1479, 1662],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1662, 2253],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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_00000110.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2247,
|
| 6 |
+
"valid_duration": [0, 2247]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 865],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [866, 1557],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1557, 1994],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1994, 2247],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1557],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1557, 1994],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1994, 2247],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000120.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2769,
|
| 6 |
+
"valid_duration": [0, 2769]
|
| 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, 634],
|
| 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": [828, 2141],
|
| 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": [2142, 2616],
|
| 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": [2616, 2769],
|
| 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, 2141],
|
| 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": [2142, 2616],
|
| 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": [2616, 2769],
|
| 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_00000140.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1985,
|
| 6 |
+
"valid_duration": [6, 1991]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [6, 1033],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1034, 1601],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1601, 1802],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1803, 1991],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [6, 1601],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1601, 1802],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1803, 1991],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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_00000250.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2454,
|
| 6 |
+
"valid_duration": [0, 2454]
|
| 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, 848],
|
| 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": [848, 1840],
|
| 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": [1855, 2184],
|
| 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": [2184, 2454],
|
| 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, 1840],
|
| 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": [1855, 2184],
|
| 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": [2184, 2454],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000260.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2133,
|
| 6 |
+
"valid_duration": [0, 2133]
|
| 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, 833],
|
| 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": [839, 1496],
|
| 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": [1496, 1868],
|
| 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": [1868, 2133],
|
| 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, 1496],
|
| 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": [1496, 1868],
|
| 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": [1868, 2133],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000270.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1785,
|
| 6 |
+
"valid_duration": [0, 1785]
|
| 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, 525],
|
| 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": [525, 1197],
|
| 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": [1197, 1417],
|
| 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": [1417, 1785],
|
| 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, 1197],
|
| 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": [1197, 1417],
|
| 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": [1417, 1785],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000300.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1696,
|
| 6 |
+
"valid_duration": [0, 1696]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 306],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [306, 1165],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1165, 1464],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1465, 1696],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1165],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1165, 1464],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1465, 1696],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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_00000320.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2565,
|
| 6 |
+
"valid_duration": [0, 2565]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 779],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [850, 2052],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2052, 2261],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2261, 2565],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2052],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2052, 2261],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2261, 2565],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000330.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1977,
|
| 6 |
+
"valid_duration": [0, 1977]
|
| 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, 387],
|
| 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": [387, 1313],
|
| 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": [1314, 1580],
|
| 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": [1580, 1977],
|
| 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, 1313],
|
| 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": [1314, 1580],
|
| 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": [1580, 1977],
|
| 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_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_00000450.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1470,
|
| 6 |
+
"valid_duration": [30, 1500]
|
| 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, 398],
|
| 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": [399, 1017],
|
| 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": [1018, 1240],
|
| 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": [1240, 1500],
|
| 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, 1017],
|
| 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": [1018, 1240],
|
| 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": [1240, 1500],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000460.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2497,
|
| 6 |
+
"valid_duration": [0, 2497]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 766],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1186, 1732],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1732, 2082],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2082, 2497],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1732],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1732, 2082],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2082, 2497],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000480.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2052,
|
| 6 |
+
"valid_duration": [0, 2052]
|
| 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, 784],
|
| 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": [784, 1512],
|
| 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": [1512, 1742],
|
| 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": [1743, 2052],
|
| 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, 1512],
|
| 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": [1512, 1742],
|
| 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": [1743, 2052],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000490.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, 1065],
|
| 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": [1109, 1882],
|
| 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": [1882, 2225],
|
| 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": [2226, 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, 1882],
|
| 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": [1882, 2225],
|
| 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": [2226, 2604],
|
| 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_00000510.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2266,
|
| 6 |
+
"valid_duration": [0, 2266]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 563],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [563, 1640],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1640, 1875],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1875, 2266],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1640],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1640, 1875],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1875, 2266],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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_00000530.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1786,
|
| 6 |
+
"valid_duration": [0, 1786]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 515],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [515, 1317],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1330, 1506],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1506, 1786],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1317],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1330, 1506],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1506, 1786],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000640.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1866,
|
| 6 |
+
"valid_duration": [0, 1866]
|
| 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, 257],
|
| 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": [257, 1029],
|
| 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": [1029, 1229],
|
| 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": [1229, 1866],
|
| 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, 1029],
|
| 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": [1029, 1229],
|
| 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": [1229, 1866],
|
| 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_00000660.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1996,
|
| 6 |
+
"valid_duration": [0, 1996]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 580],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [580, 1126],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1126, 1324],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1324, 1996],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1126],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1126, 1324],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1324, 1996],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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_00000680.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2068,
|
| 6 |
+
"valid_duration": [0, 2068]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 576],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [854, 1421],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1421, 1685],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1685, 2068],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1421],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1421, 1685],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1685, 2068],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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_00000720.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2143,
|
| 6 |
+
"valid_duration": [0, 2143]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 538],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [538, 1467],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1467, 1697],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1698, 2143],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1467],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1467, 1697],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1698, 2143],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000730.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1966,
|
| 6 |
+
"valid_duration": [0, 1966]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 120],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [120, 1171],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1171, 1424],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1424, 1966],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1171],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1171, 1424],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1424, 1966],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000800.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2008,
|
| 6 |
+
"valid_duration": [0, 2008]
|
| 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, 342],
|
| 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": [358, 1122],
|
| 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": [1123, 1454],
|
| 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": [1455, 2008],
|
| 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, 1122],
|
| 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": [1123, 1454],
|
| 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": [1455, 2008],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000810.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2705,
|
| 6 |
+
"valid_duration": [0, 2705]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1181],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1182, 2012],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2012, 2338],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2397, 2705],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2012],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2012, 2338],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2397, 2705],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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_00000940.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2462,
|
| 6 |
+
"valid_duration": [0, 2462]
|
| 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, 927],
|
| 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": [1532, 1929],
|
| 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": [1929, 2115],
|
| 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": [2115, 2462],
|
| 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, 1929],
|
| 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": [1929, 2115],
|
| 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": [2115, 2462],
|
| 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_00000960.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2343,
|
| 6 |
+
"valid_duration": [0, 2343]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 275],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [275, 1325],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1325, 1667],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1667, 2343],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1325],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1325, 1667],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1667, 2343],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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_00000980.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2414,
|
| 6 |
+
"valid_duration": [0, 2414]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1004],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1004, 1738],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1738, 2006],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2006, 2414],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1738],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1738, 2006],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2006, 2414],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_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 |
+
}
|