Add files using upload-large-folder tool
Browse files- annotations/task-0006/episode_00060080.json +115 -439
- annotations/task-0006/episode_00060090.json +115 -445
- annotations/task-0006/episode_00060110.json +115 -439
- annotations/task-0006/episode_00060150.json +115 -439
- annotations/task-0006/episode_00060160.json +103 -401
- annotations/task-0006/episode_00060200.json +115 -439
- annotations/task-0006/episode_00060220.json +115 -439
- annotations/task-0006/episode_00060310.json +115 -439
- annotations/task-0006/episode_00060490.json +121 -458
- annotations/task-0006/episode_00060510.json +115 -442
- annotations/task-0006/episode_00060560.json +103 -404
- annotations/task-0006/episode_00060640.json +115 -439
- annotations/task-0006/episode_00060700.json +109 -423
- annotations/task-0006/episode_00060740.json +103 -401
- annotations/task-0006/episode_00060770.json +113 -435
- annotations/task-0006/episode_00060820.json +115 -439
- annotations/task-0006/episode_00060930.json +115 -439
- annotations/task-0006/episode_00061000.json +107 -416
- annotations/task-0006/episode_00061010.json +92 -350
- annotations/task-0006/episode_00061110.json +115 -439
- annotations/task-0006/episode_00061160.json +101 -397
- annotations/task-0006/episode_00061190.json +101 -397
- annotations/task-0006/episode_00061280.json +86 -340
- annotations/task-0006/episode_00061320.json +88 -338
- annotations/task-0006/episode_00061370.json +115 -442
- annotations/task-0006/episode_00061460.json +107 -416
- annotations/task-0006/episode_00061540.json +115 -442
- annotations/task-0006/episode_00061550.json +101 -394
- annotations/task-0006/episode_00061590.json +101 -397
- annotations/task-0006/episode_00061620.json +115 -439
- annotations/task-0006/episode_00061670.json +115 -439
- annotations/task-0006/episode_00061680.json +109 -423
- annotations/task-0006/episode_00061770.json +103 -401
- annotations/task-0006/episode_00061800.json +115 -442
- annotations/task-0006/episode_00061900.json +115 -442
- annotations/task-0006/episode_00061910.json +107 -416
- annotations/task-0006/episode_00061960.json +115 -442
- annotations/task-0006/episode_00061990.json +127 -477
- annotations/task-0006/episode_00062110.json +115 -442
- annotations/task-0006/episode_00062170.json +103 -404
- annotations/task-0006/episode_00062190.json +115 -442
- annotations/task-0006/episode_00062400.json +109 -423
- annotations/task-0006/episode_00062420.json +115 -442
- annotations/task-0006/episode_00062550.json +115 -442
- annotations/task-0006/episode_00062560.json +107 -416
- annotations/task-0006/episode_00062700.json +115 -439
- annotations/task-0006/episode_00062740.json +109 -423
- annotations/task-0006/episode_00062830.json +115 -439
- annotations/task-0006/episode_00062950.json +115 -442
- annotations/task-0006/episode_00063000.json +115 -442
annotations/task-0006/episode_00060080.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8910,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
8910
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1230
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1230,
|
| 56 |
-
1873
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_4"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1879,
|
| 80 |
-
2478
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2478,
|
| 107 |
-
2826
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2826,
|
| 134 |
-
3535
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_4"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3535,
|
| 168 |
-
4440
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
4441,
|
| 192 |
-
4831
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
4831,
|
| 219 |
-
5889
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_4"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
5889,
|
| 253 |
-
6884
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
6884,
|
| 277 |
-
7107
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
7107,
|
| 304 |
-
7980
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_4"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
7980,
|
| 338 |
-
8910
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_rrhqpw_4"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
2826
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_181",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_181",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_rrhqpw_4"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_181",
|
| 412 |
-
"easter_egg_181"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
2826,
|
| 426 |
-
4440
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_180",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_180",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_rrhqpw_4"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_180",
|
| 456 |
-
"easter_egg_180"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
4441,
|
| 470 |
-
6884
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_179",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_179",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_rrhqpw_4"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_179",
|
| 501 |
-
"easter_egg_179"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
6884,
|
| 515 |
-
8910
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8910,
|
| 6 |
+
"valid_duration": [0, 8910]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1230],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1230, 1873],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_4"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1879, 2478],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2478, 2826],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2826, 3535],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3535, 4440],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4441, 4831],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4831, 5889],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [5889, 6884],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [6884, 7107],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [7107, 7980],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [7980, 8910],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_4"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2826],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2826, 4440],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [4441, 6884],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [6884, 8910],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060090.json
CHANGED
|
@@ -3,528 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8286,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
8286
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1236
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1236,
|
| 56 |
-
1689
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_4"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
[
|
| 80 |
-
1690,
|
| 81 |
-
2016
|
| 82 |
-
],
|
| 83 |
-
[
|
| 84 |
-
2153,
|
| 85 |
-
3001
|
| 86 |
-
]
|
| 87 |
-
],
|
| 88 |
"mp_ef": [],
|
| 89 |
-
"skill_type": [
|
| 90 |
-
"navigation"
|
| 91 |
-
]
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 3,
|
| 95 |
-
"skill_id": [
|
| 96 |
-
|
| 97 |
-
],
|
| 98 |
-
"
|
| 99 |
-
|
| 100 |
-
],
|
| 101 |
-
"object_id": [
|
| 102 |
-
[
|
| 103 |
-
"wicker_basket_178",
|
| 104 |
-
"lawn_aztwla_0"
|
| 105 |
-
]
|
| 106 |
-
],
|
| 107 |
-
"manipulating_object_id": [
|
| 108 |
-
"wicker_basket_178"
|
| 109 |
-
],
|
| 110 |
"spatial_prefix": [],
|
| 111 |
-
"frame_duration": [
|
| 112 |
-
2016,
|
| 113 |
-
2153
|
| 114 |
-
],
|
| 115 |
"mp_ef": [],
|
| 116 |
-
"skill_type": [
|
| 117 |
-
"uncoordinated"
|
| 118 |
-
]
|
| 119 |
},
|
| 120 |
{
|
| 121 |
"skill_idx": 4,
|
| 122 |
-
"skill_id": [
|
| 123 |
-
|
| 124 |
-
],
|
| 125 |
-
"
|
| 126 |
-
|
| 127 |
-
],
|
| 128 |
-
"object_id": [
|
| 129 |
-
[
|
| 130 |
-
"easter_egg_180",
|
| 131 |
-
"wicker_basket_178"
|
| 132 |
-
]
|
| 133 |
-
],
|
| 134 |
-
"manipulating_object_id": [
|
| 135 |
-
"easter_egg_180"
|
| 136 |
-
],
|
| 137 |
"spatial_prefix": [],
|
| 138 |
-
"frame_duration": [
|
| 139 |
-
3001,
|
| 140 |
-
4126
|
| 141 |
-
],
|
| 142 |
"mp_ef": [],
|
| 143 |
-
"skill_type": [
|
| 144 |
-
"uncoordinated"
|
| 145 |
-
]
|
| 146 |
},
|
| 147 |
{
|
| 148 |
"skill_idx": 5,
|
| 149 |
-
"skill_id": [
|
| 150 |
-
|
| 151 |
-
],
|
| 152 |
-
"
|
| 153 |
-
|
| 154 |
-
],
|
| 155 |
-
"
|
| 156 |
-
[
|
| 157 |
-
"easter_egg_180",
|
| 158 |
-
"lawn_aztwla_0",
|
| 159 |
-
"tree_rrhqpw_4"
|
| 160 |
-
]
|
| 161 |
-
],
|
| 162 |
-
"manipulating_object_id": [
|
| 163 |
-
"easter_egg_180"
|
| 164 |
-
],
|
| 165 |
-
"spatial_prefix": [
|
| 166 |
-
[
|
| 167 |
-
"",
|
| 168 |
-
"",
|
| 169 |
-
"in_front_of"
|
| 170 |
-
]
|
| 171 |
-
],
|
| 172 |
-
"frame_duration": [
|
| 173 |
-
4127,
|
| 174 |
-
4912
|
| 175 |
-
],
|
| 176 |
"mp_ef": [],
|
| 177 |
-
"skill_type": [
|
| 178 |
-
"uncoordinated"
|
| 179 |
-
]
|
| 180 |
},
|
| 181 |
{
|
| 182 |
"skill_idx": 6,
|
| 183 |
-
"skill_id": [
|
| 184 |
-
|
| 185 |
-
],
|
| 186 |
-
"skill_description": [
|
| 187 |
-
"move to"
|
| 188 |
-
],
|
| 189 |
-
"object_id": [
|
| 190 |
-
[
|
| 191 |
-
"wicker_basket_178"
|
| 192 |
-
]
|
| 193 |
-
],
|
| 194 |
"manipulating_object_id": [],
|
|
|
|
| 195 |
"spatial_prefix": [],
|
| 196 |
-
"frame_duration": [
|
| 197 |
-
4912,
|
| 198 |
-
5079
|
| 199 |
-
],
|
| 200 |
"mp_ef": [],
|
| 201 |
-
"skill_type": [
|
| 202 |
-
"navigation"
|
| 203 |
-
]
|
| 204 |
},
|
| 205 |
{
|
| 206 |
"skill_idx": 7,
|
| 207 |
-
"skill_id": [
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
|
| 212 |
-
],
|
| 213 |
-
"object_id": [
|
| 214 |
-
[
|
| 215 |
-
"easter_egg_181",
|
| 216 |
-
"wicker_basket_178"
|
| 217 |
-
]
|
| 218 |
-
],
|
| 219 |
-
"manipulating_object_id": [
|
| 220 |
-
"easter_egg_181"
|
| 221 |
-
],
|
| 222 |
"spatial_prefix": [],
|
| 223 |
-
"frame_duration": [
|
| 224 |
-
5079,
|
| 225 |
-
5680
|
| 226 |
-
],
|
| 227 |
"mp_ef": [],
|
| 228 |
-
"skill_type": [
|
| 229 |
-
"uncoordinated"
|
| 230 |
-
]
|
| 231 |
},
|
| 232 |
{
|
| 233 |
"skill_idx": 8,
|
| 234 |
-
"skill_id": [
|
| 235 |
-
|
| 236 |
-
],
|
| 237 |
-
"
|
| 238 |
-
|
| 239 |
-
],
|
| 240 |
-
"
|
| 241 |
-
[
|
| 242 |
-
"easter_egg_181",
|
| 243 |
-
"lawn_aztwla_0",
|
| 244 |
-
"tree_rrhqpw_4"
|
| 245 |
-
]
|
| 246 |
-
],
|
| 247 |
-
"manipulating_object_id": [
|
| 248 |
-
"easter_egg_181"
|
| 249 |
-
],
|
| 250 |
-
"spatial_prefix": [
|
| 251 |
-
[
|
| 252 |
-
"",
|
| 253 |
-
"",
|
| 254 |
-
"in_front_of"
|
| 255 |
-
]
|
| 256 |
-
],
|
| 257 |
-
"frame_duration": [
|
| 258 |
-
5680,
|
| 259 |
-
6103
|
| 260 |
-
],
|
| 261 |
"mp_ef": [],
|
| 262 |
-
"skill_type": [
|
| 263 |
-
"uncoordinated"
|
| 264 |
-
]
|
| 265 |
},
|
| 266 |
{
|
| 267 |
"skill_idx": 9,
|
| 268 |
-
"skill_id": [
|
| 269 |
-
|
| 270 |
-
],
|
| 271 |
-
"skill_description": [
|
| 272 |
-
"move to"
|
| 273 |
-
],
|
| 274 |
-
"object_id": [
|
| 275 |
-
[
|
| 276 |
-
"wicker_basket_178"
|
| 277 |
-
]
|
| 278 |
-
],
|
| 279 |
"manipulating_object_id": [],
|
|
|
|
| 280 |
"spatial_prefix": [],
|
| 281 |
-
"frame_duration": [
|
| 282 |
-
6103,
|
| 283 |
-
6626
|
| 284 |
-
],
|
| 285 |
"mp_ef": [],
|
| 286 |
-
"skill_type": [
|
| 287 |
-
"navigation"
|
| 288 |
-
]
|
| 289 |
},
|
| 290 |
{
|
| 291 |
"skill_idx": 10,
|
| 292 |
-
"skill_id": [
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
|
| 297 |
-
],
|
| 298 |
-
"object_id": [
|
| 299 |
-
[
|
| 300 |
-
"easter_egg_179",
|
| 301 |
-
"wicker_basket_178"
|
| 302 |
-
]
|
| 303 |
-
],
|
| 304 |
-
"manipulating_object_id": [
|
| 305 |
-
"easter_egg_179"
|
| 306 |
-
],
|
| 307 |
"spatial_prefix": [],
|
| 308 |
-
"frame_duration": [
|
| 309 |
-
6626,
|
| 310 |
-
7356
|
| 311 |
-
],
|
| 312 |
"mp_ef": [],
|
| 313 |
-
"skill_type": [
|
| 314 |
-
"uncoordinated"
|
| 315 |
-
]
|
| 316 |
},
|
| 317 |
{
|
| 318 |
"skill_idx": 11,
|
| 319 |
-
"skill_id": [
|
| 320 |
-
|
| 321 |
-
],
|
| 322 |
-
"
|
| 323 |
-
|
| 324 |
-
],
|
| 325 |
-
"
|
| 326 |
-
[
|
| 327 |
-
"easter_egg_179",
|
| 328 |
-
"lawn_aztwla_0",
|
| 329 |
-
"tree_rrhqpw_4"
|
| 330 |
-
]
|
| 331 |
-
],
|
| 332 |
-
"manipulating_object_id": [
|
| 333 |
-
"easter_egg_179"
|
| 334 |
-
],
|
| 335 |
-
"spatial_prefix": [
|
| 336 |
-
[
|
| 337 |
-
"",
|
| 338 |
-
"",
|
| 339 |
-
"in_front_of"
|
| 340 |
-
]
|
| 341 |
-
],
|
| 342 |
-
"frame_duration": [
|
| 343 |
-
7357,
|
| 344 |
-
8286
|
| 345 |
-
],
|
| 346 |
"mp_ef": [],
|
| 347 |
-
"skill_type": [
|
| 348 |
-
"uncoordinated"
|
| 349 |
-
]
|
| 350 |
}
|
| 351 |
],
|
| 352 |
"primitive_annotation": [
|
| 353 |
{
|
| 354 |
"primitive_idx": 0,
|
| 355 |
-
"primitive_id": [
|
| 356 |
-
|
| 357 |
-
|
| 358 |
-
|
| 359 |
-
],
|
| 360 |
-
"primitive_description": [
|
| 361 |
-
"pick up from",
|
| 362 |
-
"move to",
|
| 363 |
-
"place on"
|
| 364 |
-
],
|
| 365 |
-
"object_id": [
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"tree_rrhqpw_4"
|
| 372 |
-
],
|
| 373 |
-
[
|
| 374 |
-
"wicker_basket_178",
|
| 375 |
-
"lawn_aztwla_0"
|
| 376 |
-
]
|
| 377 |
-
],
|
| 378 |
-
"manipulating_object_id": [
|
| 379 |
-
"wicker_basket_178",
|
| 380 |
-
[],
|
| 381 |
-
"wicker_basket_178"
|
| 382 |
-
],
|
| 383 |
"spatial_prefix": [],
|
| 384 |
-
"frame_duration": [
|
| 385 |
-
|
| 386 |
-
2153
|
| 387 |
-
],
|
| 388 |
-
"skill_idxes": [
|
| 389 |
-
0,
|
| 390 |
-
1,
|
| 391 |
-
2,
|
| 392 |
-
3
|
| 393 |
-
]
|
| 394 |
},
|
| 395 |
{
|
| 396 |
"primitive_idx": 1,
|
| 397 |
-
"primitive_id": [
|
| 398 |
-
|
| 399 |
-
|
| 400 |
-
],
|
| 401 |
-
"
|
| 402 |
-
|
| 403 |
-
|
| 404 |
-
]
|
| 405 |
-
"object_id": [
|
| 406 |
-
[
|
| 407 |
-
"easter_egg_180",
|
| 408 |
-
"wicker_basket_178"
|
| 409 |
-
],
|
| 410 |
-
[
|
| 411 |
-
"easter_egg_180",
|
| 412 |
-
"lawn_aztwla_0",
|
| 413 |
-
"tree_rrhqpw_4"
|
| 414 |
-
]
|
| 415 |
-
],
|
| 416 |
-
"manipulating_object_id": [
|
| 417 |
-
"easter_egg_180",
|
| 418 |
-
"easter_egg_180"
|
| 419 |
-
],
|
| 420 |
-
"spatial_prefix": [
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
[],
|
| 424 |
-
[],
|
| 425 |
-
[
|
| 426 |
-
"in_front_of"
|
| 427 |
-
]
|
| 428 |
-
]
|
| 429 |
-
],
|
| 430 |
-
"frame_duration": [
|
| 431 |
-
3001,
|
| 432 |
-
4912
|
| 433 |
-
],
|
| 434 |
-
"skill_idxes": [
|
| 435 |
-
4,
|
| 436 |
-
5
|
| 437 |
-
]
|
| 438 |
},
|
| 439 |
{
|
| 440 |
"primitive_idx": 2,
|
| 441 |
-
"primitive_id": [
|
| 442 |
-
|
| 443 |
-
|
| 444 |
-
],
|
| 445 |
-
"
|
| 446 |
-
|
| 447 |
-
|
| 448 |
-
]
|
| 449 |
-
"object_id": [
|
| 450 |
-
[
|
| 451 |
-
"easter_egg_181",
|
| 452 |
-
"wicker_basket_178"
|
| 453 |
-
],
|
| 454 |
-
[
|
| 455 |
-
"easter_egg_181",
|
| 456 |
-
"lawn_aztwla_0",
|
| 457 |
-
"tree_rrhqpw_4"
|
| 458 |
-
]
|
| 459 |
-
],
|
| 460 |
-
"manipulating_object_id": [
|
| 461 |
-
"easter_egg_181",
|
| 462 |
-
"easter_egg_181"
|
| 463 |
-
],
|
| 464 |
-
"spatial_prefix": [
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
[],
|
| 468 |
-
[],
|
| 469 |
-
[
|
| 470 |
-
"in_front_of"
|
| 471 |
-
]
|
| 472 |
-
]
|
| 473 |
-
],
|
| 474 |
-
"frame_duration": [
|
| 475 |
-
4912,
|
| 476 |
-
6103
|
| 477 |
-
],
|
| 478 |
-
"skill_idxes": [
|
| 479 |
-
6,
|
| 480 |
-
7,
|
| 481 |
-
8
|
| 482 |
-
]
|
| 483 |
},
|
| 484 |
{
|
| 485 |
"primitive_idx": 3,
|
| 486 |
-
"primitive_id": [
|
| 487 |
-
|
| 488 |
-
|
| 489 |
-
],
|
| 490 |
-
"
|
| 491 |
-
|
| 492 |
-
|
| 493 |
-
]
|
| 494 |
-
"object_id": [
|
| 495 |
-
[
|
| 496 |
-
"easter_egg_179",
|
| 497 |
-
"wicker_basket_178"
|
| 498 |
-
],
|
| 499 |
-
[
|
| 500 |
-
"easter_egg_179",
|
| 501 |
-
"lawn_aztwla_0",
|
| 502 |
-
"tree_rrhqpw_4"
|
| 503 |
-
]
|
| 504 |
-
],
|
| 505 |
-
"manipulating_object_id": [
|
| 506 |
-
"easter_egg_179",
|
| 507 |
-
"easter_egg_179"
|
| 508 |
-
],
|
| 509 |
-
"spatial_prefix": [
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
[],
|
| 513 |
-
[],
|
| 514 |
-
[
|
| 515 |
-
"in_front_of"
|
| 516 |
-
]
|
| 517 |
-
]
|
| 518 |
-
],
|
| 519 |
-
"frame_duration": [
|
| 520 |
-
6103,
|
| 521 |
-
8286
|
| 522 |
-
],
|
| 523 |
-
"skill_idxes": [
|
| 524 |
-
9,
|
| 525 |
-
10,
|
| 526 |
-
11
|
| 527 |
-
]
|
| 528 |
}
|
| 529 |
]
|
| 530 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8286,
|
| 6 |
+
"valid_duration": [0, 8286]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1236],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1236, 1689],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_4"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [[1690, 2016], [2153, 3001]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2016, 2153],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3001, 4126],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [4127, 4912],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4912, 5079],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5079, 5680],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [5680, 6103],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [6103, 6626],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6626, 7356],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [7357, 8286],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_4"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2153],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [3001, 4912],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [4912, 6103],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [6103, 8286],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060110.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10229,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
10229
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
3241
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
3242,
|
| 56 |
-
3994
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_3"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
3995,
|
| 80 |
-
4194
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
4194,
|
| 107 |
-
4500
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
4501,
|
| 134 |
-
5814
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_3"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
5815,
|
| 168 |
-
6680
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
6680,
|
| 192 |
-
6884
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
6885,
|
| 219 |
-
7909
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_3"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
7909,
|
| 253 |
-
8610
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
8610,
|
| 277 |
-
8754
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
8754,
|
| 304 |
-
9648
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_3"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
9648,
|
| 338 |
-
10229
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_rrhqpw_3"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
4500
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_180",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_180",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_rrhqpw_3"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_180",
|
| 412 |
-
"easter_egg_180"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
4501,
|
| 426 |
-
6680
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_179",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_179",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_rrhqpw_3"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_179",
|
| 456 |
-
"easter_egg_179"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
6680,
|
| 470 |
-
8610
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_181",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_181",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_rrhqpw_3"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_181",
|
| 501 |
-
"easter_egg_181"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
8610,
|
| 515 |
-
10229
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10229,
|
| 6 |
+
"valid_duration": [0, 10229]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 3241],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [3242, 3994],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_3"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3995, 4194],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4194, 4500],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4501, 5814],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_3"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [5815, 6680],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6680, 6884],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6885, 7909],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_3"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [7909, 8610],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8610, 8754],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [8754, 9648],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_3"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [9648, 10229],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_3"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 4500],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_3"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [4501, 6680],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_3"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [6680, 8610],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_3"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [8610, 10229],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060150.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 13060,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
13060
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1644
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1650,
|
| 56 |
-
2341
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2342,
|
| 80 |
-
3844
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
3844,
|
| 107 |
-
4307
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
4307,
|
| 134 |
-
5501
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_0"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
5501,
|
| 168 |
-
6498
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
6498,
|
| 192 |
-
6939
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
6940,
|
| 219 |
-
8709
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_0"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
8709,
|
| 253 |
-
9864
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
9864,
|
| 277 |
-
10202
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
10202,
|
| 304 |
-
11898
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_0"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
11898,
|
| 338 |
-
13060
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_dyymaq_0"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
4307
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_181",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_181",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_dyymaq_0"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_181",
|
| 412 |
-
"easter_egg_181"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
4307,
|
| 426 |
-
6498
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_180",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_180",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_dyymaq_0"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_180",
|
| 456 |
-
"easter_egg_180"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
6498,
|
| 470 |
-
9864
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_179",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_179",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_dyymaq_0"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_179",
|
| 501 |
-
"easter_egg_179"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
9864,
|
| 515 |
-
13060
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 13060,
|
| 6 |
+
"valid_duration": [0, 13060]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1644],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1650, 2341],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2342, 3844],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3844, 4307],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4307, 5501],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [5501, 6498],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6498, 6939],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6940, 8709],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [8709, 9864],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9864, 10202],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10202, 11898],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [11898, 13060],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 4307],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [4307, 6498],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [6498, 9864],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [9864, 13060],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060160.json
CHANGED
|
@@ -3,472 +3,174 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 9995,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
9995
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
6598
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
6598,
|
| 56 |
-
6981
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
6982,
|
| 80 |
-
7119
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
7120,
|
| 107 |
-
7242
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
7243,
|
| 134 |
-
7659
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_0"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
7659,
|
| 168 |
-
8018
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"
|
| 181 |
-
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"easter_egg_180",
|
| 186 |
-
"wicker_basket_178"
|
| 187 |
-
]
|
| 188 |
-
],
|
| 189 |
-
"manipulating_object_id": [
|
| 190 |
-
"easter_egg_180"
|
| 191 |
-
],
|
| 192 |
"spatial_prefix": [],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
8018,
|
| 195 |
-
8526
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_180",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_rrhqpw_0"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_180"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
8527,
|
| 229 |
-
8853
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"
|
| 242 |
-
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"easter_egg_179",
|
| 247 |
-
"wicker_basket_178"
|
| 248 |
-
]
|
| 249 |
-
],
|
| 250 |
-
"manipulating_object_id": [
|
| 251 |
-
"easter_egg_179"
|
| 252 |
-
],
|
| 253 |
"spatial_prefix": [],
|
| 254 |
-
"frame_duration": [
|
| 255 |
-
8854,
|
| 256 |
-
9333
|
| 257 |
-
],
|
| 258 |
"mp_ef": [],
|
| 259 |
-
"skill_type": [
|
| 260 |
-
"uncoordinated"
|
| 261 |
-
]
|
| 262 |
},
|
| 263 |
{
|
| 264 |
"skill_idx": 9,
|
| 265 |
-
"skill_id": [
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"
|
| 269 |
-
|
| 270 |
-
],
|
| 271 |
-
"
|
| 272 |
-
[
|
| 273 |
-
"easter_egg_179",
|
| 274 |
-
"lawn_aztwla_0",
|
| 275 |
-
"tree_rrhqpw_0"
|
| 276 |
-
]
|
| 277 |
-
],
|
| 278 |
-
"manipulating_object_id": [
|
| 279 |
-
"easter_egg_179"
|
| 280 |
-
],
|
| 281 |
-
"spatial_prefix": [
|
| 282 |
-
[
|
| 283 |
-
"",
|
| 284 |
-
"",
|
| 285 |
-
"in_front_of"
|
| 286 |
-
]
|
| 287 |
-
],
|
| 288 |
-
"frame_duration": [
|
| 289 |
-
9334,
|
| 290 |
-
9995
|
| 291 |
-
],
|
| 292 |
"mp_ef": [],
|
| 293 |
-
"skill_type": [
|
| 294 |
-
"uncoordinated"
|
| 295 |
-
]
|
| 296 |
}
|
| 297 |
],
|
| 298 |
"primitive_annotation": [
|
| 299 |
{
|
| 300 |
"primitive_idx": 0,
|
| 301 |
-
"primitive_id": [
|
| 302 |
-
|
| 303 |
-
|
| 304 |
-
|
| 305 |
-
],
|
| 306 |
-
"primitive_description": [
|
| 307 |
-
"pick up from",
|
| 308 |
-
"move to",
|
| 309 |
-
"place on"
|
| 310 |
-
],
|
| 311 |
-
"object_id": [
|
| 312 |
-
[
|
| 313 |
-
"wicker_basket_178",
|
| 314 |
-
"lawn_aztwla_0"
|
| 315 |
-
],
|
| 316 |
-
[
|
| 317 |
-
"tree_rrhqpw_0"
|
| 318 |
-
],
|
| 319 |
-
[
|
| 320 |
-
"wicker_basket_178",
|
| 321 |
-
"lawn_aztwla_0"
|
| 322 |
-
]
|
| 323 |
-
],
|
| 324 |
-
"manipulating_object_id": [
|
| 325 |
-
"wicker_basket_178",
|
| 326 |
-
[],
|
| 327 |
-
"wicker_basket_178"
|
| 328 |
-
],
|
| 329 |
"spatial_prefix": [],
|
| 330 |
-
"frame_duration": [
|
| 331 |
-
|
| 332 |
-
7242
|
| 333 |
-
],
|
| 334 |
-
"skill_idxes": [
|
| 335 |
-
0,
|
| 336 |
-
1,
|
| 337 |
-
2,
|
| 338 |
-
3
|
| 339 |
-
]
|
| 340 |
},
|
| 341 |
{
|
| 342 |
"primitive_idx": 1,
|
| 343 |
-
"primitive_id": [
|
| 344 |
-
|
| 345 |
-
|
| 346 |
-
],
|
| 347 |
-
"
|
| 348 |
-
|
| 349 |
-
|
| 350 |
-
]
|
| 351 |
-
"object_id": [
|
| 352 |
-
[
|
| 353 |
-
"easter_egg_181",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
-
[
|
| 357 |
-
"easter_egg_181",
|
| 358 |
-
"lawn_aztwla_0",
|
| 359 |
-
"tree_rrhqpw_0"
|
| 360 |
-
]
|
| 361 |
-
],
|
| 362 |
-
"manipulating_object_id": [
|
| 363 |
-
"easter_egg_181",
|
| 364 |
-
"easter_egg_181"
|
| 365 |
-
],
|
| 366 |
-
"spatial_prefix": [
|
| 367 |
-
[],
|
| 368 |
-
[
|
| 369 |
-
[],
|
| 370 |
-
[],
|
| 371 |
-
[
|
| 372 |
-
"in_front_of"
|
| 373 |
-
]
|
| 374 |
-
]
|
| 375 |
-
],
|
| 376 |
-
"frame_duration": [
|
| 377 |
-
7243,
|
| 378 |
-
8018
|
| 379 |
-
],
|
| 380 |
-
"skill_idxes": [
|
| 381 |
-
4,
|
| 382 |
-
5
|
| 383 |
-
]
|
| 384 |
},
|
| 385 |
{
|
| 386 |
"primitive_idx": 2,
|
| 387 |
-
"primitive_id": [
|
| 388 |
-
|
| 389 |
-
|
| 390 |
-
],
|
| 391 |
-
"
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
]
|
| 395 |
-
"object_id": [
|
| 396 |
-
[
|
| 397 |
-
"easter_egg_180",
|
| 398 |
-
"wicker_basket_178"
|
| 399 |
-
],
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_180",
|
| 402 |
-
"lawn_aztwla_0",
|
| 403 |
-
"tree_rrhqpw_0"
|
| 404 |
-
]
|
| 405 |
-
],
|
| 406 |
-
"manipulating_object_id": [
|
| 407 |
-
"easter_egg_180",
|
| 408 |
-
"easter_egg_180"
|
| 409 |
-
],
|
| 410 |
-
"spatial_prefix": [
|
| 411 |
-
[],
|
| 412 |
-
[
|
| 413 |
-
[],
|
| 414 |
-
[],
|
| 415 |
-
[
|
| 416 |
-
"in_front_of"
|
| 417 |
-
]
|
| 418 |
-
]
|
| 419 |
-
],
|
| 420 |
-
"frame_duration": [
|
| 421 |
-
8018,
|
| 422 |
-
8853
|
| 423 |
-
],
|
| 424 |
-
"skill_idxes": [
|
| 425 |
-
6,
|
| 426 |
-
7
|
| 427 |
-
]
|
| 428 |
},
|
| 429 |
{
|
| 430 |
"primitive_idx": 3,
|
| 431 |
-
"primitive_id": [
|
| 432 |
-
|
| 433 |
-
|
| 434 |
-
],
|
| 435 |
-
"
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
]
|
| 439 |
-
"object_id": [
|
| 440 |
-
[
|
| 441 |
-
"easter_egg_179",
|
| 442 |
-
"wicker_basket_178"
|
| 443 |
-
],
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_179",
|
| 446 |
-
"lawn_aztwla_0",
|
| 447 |
-
"tree_rrhqpw_0"
|
| 448 |
-
]
|
| 449 |
-
],
|
| 450 |
-
"manipulating_object_id": [
|
| 451 |
-
"easter_egg_179",
|
| 452 |
-
"easter_egg_179"
|
| 453 |
-
],
|
| 454 |
-
"spatial_prefix": [
|
| 455 |
-
[],
|
| 456 |
-
[
|
| 457 |
-
[],
|
| 458 |
-
[],
|
| 459 |
-
[
|
| 460 |
-
"in_front_of"
|
| 461 |
-
]
|
| 462 |
-
]
|
| 463 |
-
],
|
| 464 |
-
"frame_duration": [
|
| 465 |
-
8854,
|
| 466 |
-
9995
|
| 467 |
-
],
|
| 468 |
-
"skill_idxes": [
|
| 469 |
-
8,
|
| 470 |
-
9
|
| 471 |
-
]
|
| 472 |
}
|
| 473 |
]
|
| 474 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 9995,
|
| 6 |
+
"valid_duration": [0, 9995]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 6598],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [6598, 6981],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [6982, 7119],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [7120, 7242],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [7243, 7659],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [7659, 8018],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8018, 8526],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [8527, 8853],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [2],
|
| 108 |
+
"skill_description": ["pick up from"],
|
| 109 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8854, 9333],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [91],
|
| 120 |
+
"skill_description": ["place on next to"],
|
| 121 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 125 |
+
"frame_duration": [9334, 9995],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
}
|
| 129 |
],
|
| 130 |
"primitive_annotation": [
|
| 131 |
{
|
| 132 |
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [2, 1, 3],
|
| 134 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 135 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 136 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 137 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 7242],
|
| 140 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 141 |
},
|
| 142 |
{
|
| 143 |
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 91],
|
| 145 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 146 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 147 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 150 |
+
"frame_duration": [7243, 8018],
|
| 151 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 91],
|
| 156 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 157 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 158 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 161 |
+
"frame_duration": [8018, 8853],
|
| 162 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 163 |
},
|
| 164 |
{
|
| 165 |
"primitive_idx": 3,
|
| 166 |
+
"primitive_id": [2, 91],
|
| 167 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 168 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 169 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 170 |
+
"memory_prefix": ["the other", ""],
|
| 171 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 172 |
+
"frame_duration": [8854, 9995],
|
| 173 |
+
"skill_idxes": [8, 9]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 174 |
}
|
| 175 |
]
|
| 176 |
}
|
annotations/task-0006/episode_00060200.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10350,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
10350
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1536
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1536,
|
| 56 |
-
2143
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_4"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2143,
|
| 80 |
-
2489
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2489,
|
| 107 |
-
2762
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2762,
|
| 134 |
-
4396
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_4"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
4396,
|
| 168 |
-
5244
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
5244,
|
| 192 |
-
5727
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
5727,
|
| 219 |
-
7347
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_4"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
7347,
|
| 253 |
-
8167
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
8168,
|
| 277 |
-
8616
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
8616,
|
| 304 |
-
9480
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_4"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
9480,
|
| 338 |
-
10350
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_rrhqpw_4"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
2762
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_181",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_181",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_rrhqpw_4"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_181",
|
| 412 |
-
"easter_egg_181"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
2762,
|
| 426 |
-
5244
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_180",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_180",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_rrhqpw_4"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_180",
|
| 456 |
-
"easter_egg_180"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
5244,
|
| 470 |
-
8167
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_179",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_179",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_rrhqpw_4"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_179",
|
| 501 |
-
"easter_egg_179"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
8168,
|
| 515 |
-
10350
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10350,
|
| 6 |
+
"valid_duration": [0, 10350]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1536],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1536, 2143],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_4"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2143, 2489],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2489, 2762],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2762, 4396],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [4396, 5244],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5244, 5727],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5727, 7347],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [7347, 8167],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8168, 8616],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [8616, 9480],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [9480, 10350],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_4"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2762],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2762, 5244],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [5244, 8167],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [8168, 10350],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060220.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8328,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
8328
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
506
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
507,
|
| 56 |
-
1150
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1150,
|
| 80 |
-
1567
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1567,
|
| 107 |
-
1912
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1914,
|
| 134 |
-
3020
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3021,
|
| 168 |
-
3821
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3821,
|
| 192 |
-
4155
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
4155,
|
| 219 |
-
5402
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
5403,
|
| 253 |
-
6289
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
6290,
|
| 277 |
-
6755
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
6755,
|
| 304 |
-
7536
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
7536,
|
| 338 |
-
8328
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_dyymaq_2"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
1912
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_181",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_181",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_dyymaq_2"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_181",
|
| 412 |
-
"easter_egg_181"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
1914,
|
| 426 |
-
3821
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_180",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_180",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_dyymaq_2"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_180",
|
| 456 |
-
"easter_egg_180"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
3821,
|
| 470 |
-
6289
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_179",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_179",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_dyymaq_2"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_179",
|
| 501 |
-
"easter_egg_179"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
6290,
|
| 515 |
-
8328
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8328,
|
| 6 |
+
"valid_duration": [0, 8328]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 506],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [507, 1150],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1150, 1567],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1567, 1912],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1914, 3020],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3021, 3821],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3821, 4155],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4155, 5402],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [5403, 6289],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [6290, 6755],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6755, 7536],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [7536, 8328],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_2"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1912],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [1914, 3821],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [3821, 6289],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [6290, 8328],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060310.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7274,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
7274
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
409
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
409,
|
| 56 |
-
1149
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1149,
|
| 80 |
-
1896
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1896,
|
| 107 |
-
2222
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2222,
|
| 134 |
-
3312
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3312,
|
| 168 |
-
4002
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
4002,
|
| 192 |
-
4339
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_181",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_181"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
4340,
|
| 219 |
-
5176
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_181",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_181"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
5176,
|
| 253 |
-
5723
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
5723,
|
| 277 |
-
6072
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
6072,
|
| 304 |
-
6750
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
6750,
|
| 338 |
-
7274
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_rrhqpw_2"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
2222
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_180",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_180",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_rrhqpw_2"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_180",
|
| 412 |
-
"easter_egg_180"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
2222,
|
| 426 |
-
4002
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_181",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_181",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_rrhqpw_2"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_181",
|
| 456 |
-
"easter_egg_181"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
4002,
|
| 470 |
-
5723
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_179",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_179",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_rrhqpw_2"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_179",
|
| 501 |
-
"easter_egg_179"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
5723,
|
| 515 |
-
7274
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7274,
|
| 6 |
+
"valid_duration": [0, 7274]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 409],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [409, 1149],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1149, 1896],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1896, 2222],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2222, 3312],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3312, 4002],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4002, 4339],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4340, 5176],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [5176, 5723],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5723, 6072],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6072, 6750],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [6750, 7274],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_2"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2222],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2222, 4002],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [4002, 5723],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [5723, 7274],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060490.json
CHANGED
|
@@ -3,547 +3,210 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10639,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
10639
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
3240
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
3240,
|
| 56 |
-
3906
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_5"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
3906,
|
| 80 |
-
4703
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
4703,
|
| 107 |
-
5188
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
5188,
|
| 134 |
-
5947
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_5"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
5947,
|
| 168 |
-
6633
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
6634,
|
| 192 |
-
6898
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
6898,
|
| 219 |
-
7802
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_5"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
7802,
|
| 253 |
-
8402
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
8402,
|
| 277 |
-
8728
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_180",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_180"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
8729,
|
| 304 |
-
9373
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"skill_description": [
|
| 317 |
-
"move to"
|
| 318 |
-
],
|
| 319 |
-
"object_id": [
|
| 320 |
-
[
|
| 321 |
-
"tree_rrhqpw_5"
|
| 322 |
-
]
|
| 323 |
-
],
|
| 324 |
"manipulating_object_id": [],
|
|
|
|
| 325 |
"spatial_prefix": [],
|
| 326 |
-
"frame_duration": [
|
| 327 |
-
9373,
|
| 328 |
-
10020
|
| 329 |
-
],
|
| 330 |
"mp_ef": [],
|
| 331 |
-
"skill_type": [
|
| 332 |
-
"navigation"
|
| 333 |
-
]
|
| 334 |
},
|
| 335 |
{
|
| 336 |
"skill_idx": 12,
|
| 337 |
-
"skill_id": [
|
| 338 |
-
|
| 339 |
-
],
|
| 340 |
-
"
|
| 341 |
-
|
| 342 |
-
],
|
| 343 |
-
"
|
| 344 |
-
[
|
| 345 |
-
"easter_egg_180",
|
| 346 |
-
"lawn_aztwla_0",
|
| 347 |
-
"tree_rrhqpw_5"
|
| 348 |
-
]
|
| 349 |
-
],
|
| 350 |
-
"manipulating_object_id": [
|
| 351 |
-
"easter_egg_180"
|
| 352 |
-
],
|
| 353 |
-
"spatial_prefix": [
|
| 354 |
-
[
|
| 355 |
-
"",
|
| 356 |
-
"",
|
| 357 |
-
"in_front_of"
|
| 358 |
-
]
|
| 359 |
-
],
|
| 360 |
-
"frame_duration": [
|
| 361 |
-
10020,
|
| 362 |
-
10639
|
| 363 |
-
],
|
| 364 |
"mp_ef": [],
|
| 365 |
-
"skill_type": [
|
| 366 |
-
"uncoordinated"
|
| 367 |
-
]
|
| 368 |
}
|
| 369 |
],
|
| 370 |
"primitive_annotation": [
|
| 371 |
{
|
| 372 |
"primitive_idx": 0,
|
| 373 |
-
"primitive_id": [
|
| 374 |
-
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
],
|
| 378 |
-
"primitive_description": [
|
| 379 |
-
"pick up from",
|
| 380 |
-
"move to",
|
| 381 |
-
"place on"
|
| 382 |
-
],
|
| 383 |
-
"object_id": [
|
| 384 |
-
[
|
| 385 |
-
"wicker_basket_178",
|
| 386 |
-
"lawn_aztwla_0"
|
| 387 |
-
],
|
| 388 |
-
[
|
| 389 |
-
"tree_rrhqpw_5"
|
| 390 |
-
],
|
| 391 |
-
[
|
| 392 |
-
"wicker_basket_178",
|
| 393 |
-
"lawn_aztwla_0"
|
| 394 |
-
]
|
| 395 |
-
],
|
| 396 |
-
"manipulating_object_id": [
|
| 397 |
-
"wicker_basket_178",
|
| 398 |
-
[],
|
| 399 |
-
"wicker_basket_178"
|
| 400 |
-
],
|
| 401 |
"spatial_prefix": [],
|
| 402 |
-
"frame_duration": [
|
| 403 |
-
|
| 404 |
-
5188
|
| 405 |
-
],
|
| 406 |
-
"skill_idxes": [
|
| 407 |
-
0,
|
| 408 |
-
1,
|
| 409 |
-
2,
|
| 410 |
-
3
|
| 411 |
-
]
|
| 412 |
},
|
| 413 |
{
|
| 414 |
"primitive_idx": 1,
|
| 415 |
-
"primitive_id": [
|
| 416 |
-
|
| 417 |
-
|
| 418 |
-
],
|
| 419 |
-
"
|
| 420 |
-
|
| 421 |
-
|
| 422 |
-
]
|
| 423 |
-
"object_id": [
|
| 424 |
-
[
|
| 425 |
-
"easter_egg_181",
|
| 426 |
-
"wicker_basket_178"
|
| 427 |
-
],
|
| 428 |
-
[
|
| 429 |
-
"easter_egg_181",
|
| 430 |
-
"lawn_aztwla_0",
|
| 431 |
-
"tree_rrhqpw_5"
|
| 432 |
-
]
|
| 433 |
-
],
|
| 434 |
-
"manipulating_object_id": [
|
| 435 |
-
"easter_egg_181",
|
| 436 |
-
"easter_egg_181"
|
| 437 |
-
],
|
| 438 |
-
"spatial_prefix": [
|
| 439 |
-
[],
|
| 440 |
-
[
|
| 441 |
-
[],
|
| 442 |
-
[],
|
| 443 |
-
[
|
| 444 |
-
"in_front_of"
|
| 445 |
-
]
|
| 446 |
-
]
|
| 447 |
-
],
|
| 448 |
-
"frame_duration": [
|
| 449 |
-
5188,
|
| 450 |
-
6633
|
| 451 |
-
],
|
| 452 |
-
"skill_idxes": [
|
| 453 |
-
4,
|
| 454 |
-
5
|
| 455 |
-
]
|
| 456 |
},
|
| 457 |
{
|
| 458 |
"primitive_idx": 2,
|
| 459 |
-
"primitive_id": [
|
| 460 |
-
|
| 461 |
-
|
| 462 |
-
],
|
| 463 |
-
"
|
| 464 |
-
|
| 465 |
-
|
| 466 |
-
]
|
| 467 |
-
"object_id": [
|
| 468 |
-
[
|
| 469 |
-
"easter_egg_179",
|
| 470 |
-
"wicker_basket_178"
|
| 471 |
-
],
|
| 472 |
-
[
|
| 473 |
-
"easter_egg_179",
|
| 474 |
-
"lawn_aztwla_0",
|
| 475 |
-
"tree_rrhqpw_5"
|
| 476 |
-
]
|
| 477 |
-
],
|
| 478 |
-
"manipulating_object_id": [
|
| 479 |
-
"easter_egg_179",
|
| 480 |
-
"easter_egg_179"
|
| 481 |
-
],
|
| 482 |
-
"spatial_prefix": [
|
| 483 |
-
[],
|
| 484 |
-
[
|
| 485 |
-
[],
|
| 486 |
-
[],
|
| 487 |
-
[
|
| 488 |
-
"in_front_of"
|
| 489 |
-
]
|
| 490 |
-
]
|
| 491 |
-
],
|
| 492 |
-
"frame_duration": [
|
| 493 |
-
6634,
|
| 494 |
-
8402
|
| 495 |
-
],
|
| 496 |
-
"skill_idxes": [
|
| 497 |
-
6,
|
| 498 |
-
7,
|
| 499 |
-
8
|
| 500 |
-
]
|
| 501 |
},
|
| 502 |
{
|
| 503 |
"primitive_idx": 3,
|
| 504 |
-
"primitive_id": [
|
| 505 |
-
|
| 506 |
-
|
| 507 |
-
],
|
| 508 |
-
"
|
| 509 |
-
|
| 510 |
-
|
| 511 |
-
]
|
| 512 |
-
"object_id": [
|
| 513 |
-
[
|
| 514 |
-
"easter_egg_180",
|
| 515 |
-
"wicker_basket_178"
|
| 516 |
-
],
|
| 517 |
-
[
|
| 518 |
-
"easter_egg_180",
|
| 519 |
-
"lawn_aztwla_0",
|
| 520 |
-
"tree_rrhqpw_5"
|
| 521 |
-
]
|
| 522 |
-
],
|
| 523 |
-
"manipulating_object_id": [
|
| 524 |
-
"easter_egg_180",
|
| 525 |
-
"easter_egg_180"
|
| 526 |
-
],
|
| 527 |
-
"spatial_prefix": [
|
| 528 |
-
[],
|
| 529 |
-
[
|
| 530 |
-
[],
|
| 531 |
-
[],
|
| 532 |
-
[
|
| 533 |
-
"in_front_of"
|
| 534 |
-
]
|
| 535 |
-
]
|
| 536 |
-
],
|
| 537 |
-
"frame_duration": [
|
| 538 |
-
8402,
|
| 539 |
-
10639
|
| 540 |
-
],
|
| 541 |
-
"skill_idxes": [
|
| 542 |
-
9,
|
| 543 |
-
10,
|
| 544 |
-
11,
|
| 545 |
-
12
|
| 546 |
-
]
|
| 547 |
}
|
| 548 |
]
|
| 549 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10639,
|
| 6 |
+
"valid_duration": [0, 10639]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 3240],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [3240, 3906],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_5"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3906, 4703],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4703, 5188],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5188, 5947],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [5947, 6633],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6634, 6898],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6898, 7802],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [7802, 8402],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8402, 8728],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [8729, 9373],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["tree_rrhqpw_5"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 146 |
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["back"],
|
| 148 |
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [9373, 10020],
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"skill_idx": 12,
|
| 155 |
+
"skill_id": [91],
|
| 156 |
+
"skill_description": ["place on next to"],
|
| 157 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 158 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 161 |
+
"frame_duration": [10020, 10639],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 164 |
}
|
| 165 |
],
|
| 166 |
"primitive_annotation": [
|
| 167 |
{
|
| 168 |
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2, 1, 3],
|
| 170 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 171 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_5"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 172 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 173 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 174 |
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 5188],
|
| 176 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 177 |
},
|
| 178 |
{
|
| 179 |
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [2, 91],
|
| 181 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 182 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 183 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 186 |
+
"frame_duration": [5188, 6633],
|
| 187 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 188 |
},
|
| 189 |
{
|
| 190 |
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [2, 91],
|
| 192 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 193 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 194 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 195 |
+
"memory_prefix": ["the other", ""],
|
| 196 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 197 |
+
"frame_duration": [6634, 8402],
|
| 198 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 199 |
},
|
| 200 |
{
|
| 201 |
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 91],
|
| 203 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 204 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 205 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 208 |
+
"frame_duration": [8402, 10639],
|
| 209 |
+
"skill_idxes": [9, 10, 11, 12]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 210 |
}
|
| 211 |
]
|
| 212 |
}
|
annotations/task-0006/episode_00060510.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6459,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6459
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
2490
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
2490,
|
| 56 |
-
2865
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2865,
|
| 80 |
-
3513
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
3513,
|
| 107 |
-
3909
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
3911,
|
| 134 |
-
4392
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
4392,
|
| 168 |
-
4680
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
4680,
|
| 192 |
-
4795
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_181",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_181"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
4795,
|
| 219 |
-
5344
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_181",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_181"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
5344,
|
| 253 |
-
5557
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
5557,
|
| 277 |
-
5580
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_180",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_180"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
5580,
|
| 304 |
-
5983
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_180",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_180"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
5983,
|
| 338 |
-
6459
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_2"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
3909
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_179",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_179",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_dyymaq_2"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_179",
|
| 415 |
-
"easter_egg_179"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
3911,
|
| 429 |
-
4680
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_181",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_181",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_dyymaq_2"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_181",
|
| 459 |
-
"easter_egg_181"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
4680,
|
| 473 |
-
5557
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_180",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_180",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_dyymaq_2"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_180",
|
| 504 |
-
"easter_egg_180"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
5557,
|
| 518 |
-
6459
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6459,
|
| 6 |
+
"valid_duration": [0, 6459]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 2490],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2490, 2865],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2865, 3513],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3513, 3909],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3911, 4392],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [4392, 4680],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4680, 4795],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4795, 5344],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [5344, 5557],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5557, 5580],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5580, 5983],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [5983, 6459],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 3909],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [3911, 4680],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [4680, 5557],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [5557, 6459],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060560.json
CHANGED
|
@@ -3,475 +3,174 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6841,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6841
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1079
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1082,
|
| 56 |
-
1547
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1550,
|
| 80 |
-
2616
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2619,
|
| 107 |
-
3216
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
3216,
|
| 134 |
-
4101
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
4101,
|
| 168 |
-
4377
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"
|
| 181 |
-
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"easter_egg_181",
|
| 186 |
-
"wicker_basket_178"
|
| 187 |
-
]
|
| 188 |
-
],
|
| 189 |
-
"manipulating_object_id": [
|
| 190 |
-
"easter_egg_181"
|
| 191 |
-
],
|
| 192 |
"spatial_prefix": [],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
4377,
|
| 195 |
-
5190
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_181",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_2"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_181"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
5190,
|
| 229 |
-
5643
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"
|
| 242 |
-
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"easter_egg_179",
|
| 247 |
-
"wicker_basket_178"
|
| 248 |
-
]
|
| 249 |
-
],
|
| 250 |
-
"manipulating_object_id": [
|
| 251 |
-
"easter_egg_179"
|
| 252 |
-
],
|
| 253 |
"spatial_prefix": [],
|
| 254 |
-
"frame_duration": [
|
| 255 |
-
5643,
|
| 256 |
-
6277
|
| 257 |
-
],
|
| 258 |
"mp_ef": [],
|
| 259 |
-
"skill_type": [
|
| 260 |
-
"uncoordinated"
|
| 261 |
-
]
|
| 262 |
},
|
| 263 |
{
|
| 264 |
"skill_idx": 9,
|
| 265 |
-
"skill_id": [
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"
|
| 269 |
-
|
| 270 |
-
],
|
| 271 |
-
"
|
| 272 |
-
[
|
| 273 |
-
"easter_egg_179",
|
| 274 |
-
"lawn_aztwla_0",
|
| 275 |
-
"tree_dyymaq_2"
|
| 276 |
-
]
|
| 277 |
-
],
|
| 278 |
-
"manipulating_object_id": [
|
| 279 |
-
"easter_egg_179"
|
| 280 |
-
],
|
| 281 |
-
"spatial_prefix": [
|
| 282 |
-
[
|
| 283 |
-
"",
|
| 284 |
-
"",
|
| 285 |
-
"in_front_of"
|
| 286 |
-
]
|
| 287 |
-
],
|
| 288 |
-
"frame_duration": [
|
| 289 |
-
6277,
|
| 290 |
-
6841
|
| 291 |
-
],
|
| 292 |
"mp_ef": [],
|
| 293 |
-
"skill_type": [
|
| 294 |
-
"uncoordinated"
|
| 295 |
-
]
|
| 296 |
}
|
| 297 |
],
|
| 298 |
"primitive_annotation": [
|
| 299 |
{
|
| 300 |
"primitive_idx": 0,
|
| 301 |
-
"primitive_id": [
|
| 302 |
-
|
| 303 |
-
|
| 304 |
-
|
| 305 |
-
],
|
| 306 |
-
"primitive_description": [
|
| 307 |
-
"move to",
|
| 308 |
-
"pick up from",
|
| 309 |
-
"place on"
|
| 310 |
-
],
|
| 311 |
-
"object_id": [
|
| 312 |
-
[
|
| 313 |
-
[
|
| 314 |
-
"wicker_basket_178",
|
| 315 |
-
"tree_dyymaq_2"
|
| 316 |
-
]
|
| 317 |
-
],
|
| 318 |
-
[
|
| 319 |
-
"wicker_basket_178",
|
| 320 |
-
"lawn_aztwla_0"
|
| 321 |
-
],
|
| 322 |
-
[
|
| 323 |
-
"wicker_basket_178",
|
| 324 |
-
"lawn_aztwla_0"
|
| 325 |
-
]
|
| 326 |
-
],
|
| 327 |
-
"manipulating_object_id": [
|
| 328 |
-
[],
|
| 329 |
-
"wicker_basket_178",
|
| 330 |
-
"wicker_basket_178"
|
| 331 |
-
],
|
| 332 |
"spatial_prefix": [],
|
| 333 |
-
"frame_duration": [
|
| 334 |
-
|
| 335 |
-
3216
|
| 336 |
-
],
|
| 337 |
-
"skill_idxes": [
|
| 338 |
-
0,
|
| 339 |
-
1,
|
| 340 |
-
2,
|
| 341 |
-
3
|
| 342 |
-
]
|
| 343 |
},
|
| 344 |
{
|
| 345 |
"primitive_idx": 1,
|
| 346 |
-
"primitive_id": [
|
| 347 |
-
|
| 348 |
-
|
| 349 |
-
],
|
| 350 |
-
"
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
]
|
| 354 |
-
"object_id": [
|
| 355 |
-
[
|
| 356 |
-
"easter_egg_180",
|
| 357 |
-
"wicker_basket_178"
|
| 358 |
-
],
|
| 359 |
-
[
|
| 360 |
-
"easter_egg_180",
|
| 361 |
-
"lawn_aztwla_0",
|
| 362 |
-
"tree_dyymaq_2"
|
| 363 |
-
]
|
| 364 |
-
],
|
| 365 |
-
"manipulating_object_id": [
|
| 366 |
-
"easter_egg_180",
|
| 367 |
-
"easter_egg_180"
|
| 368 |
-
],
|
| 369 |
-
"spatial_prefix": [
|
| 370 |
-
[],
|
| 371 |
-
[
|
| 372 |
-
[],
|
| 373 |
-
[],
|
| 374 |
-
[
|
| 375 |
-
"in_front_of"
|
| 376 |
-
]
|
| 377 |
-
]
|
| 378 |
-
],
|
| 379 |
-
"frame_duration": [
|
| 380 |
-
3216,
|
| 381 |
-
4377
|
| 382 |
-
],
|
| 383 |
-
"skill_idxes": [
|
| 384 |
-
4,
|
| 385 |
-
5
|
| 386 |
-
]
|
| 387 |
},
|
| 388 |
{
|
| 389 |
"primitive_idx": 2,
|
| 390 |
-
"primitive_id": [
|
| 391 |
-
|
| 392 |
-
|
| 393 |
-
],
|
| 394 |
-
"
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
]
|
| 398 |
-
"object_id": [
|
| 399 |
-
[
|
| 400 |
-
"easter_egg_181",
|
| 401 |
-
"wicker_basket_178"
|
| 402 |
-
],
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_181",
|
| 405 |
-
"lawn_aztwla_0",
|
| 406 |
-
"tree_dyymaq_2"
|
| 407 |
-
]
|
| 408 |
-
],
|
| 409 |
-
"manipulating_object_id": [
|
| 410 |
-
"easter_egg_181",
|
| 411 |
-
"easter_egg_181"
|
| 412 |
-
],
|
| 413 |
-
"spatial_prefix": [
|
| 414 |
-
[],
|
| 415 |
-
[
|
| 416 |
-
[],
|
| 417 |
-
[],
|
| 418 |
-
[
|
| 419 |
-
"in_front_of"
|
| 420 |
-
]
|
| 421 |
-
]
|
| 422 |
-
],
|
| 423 |
-
"frame_duration": [
|
| 424 |
-
4377,
|
| 425 |
-
5643
|
| 426 |
-
],
|
| 427 |
-
"skill_idxes": [
|
| 428 |
-
6,
|
| 429 |
-
7
|
| 430 |
-
]
|
| 431 |
},
|
| 432 |
{
|
| 433 |
"primitive_idx": 3,
|
| 434 |
-
"primitive_id": [
|
| 435 |
-
|
| 436 |
-
|
| 437 |
-
],
|
| 438 |
-
"
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
]
|
| 442 |
-
"object_id": [
|
| 443 |
-
[
|
| 444 |
-
"easter_egg_179",
|
| 445 |
-
"wicker_basket_178"
|
| 446 |
-
],
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_179",
|
| 449 |
-
"lawn_aztwla_0",
|
| 450 |
-
"tree_dyymaq_2"
|
| 451 |
-
]
|
| 452 |
-
],
|
| 453 |
-
"manipulating_object_id": [
|
| 454 |
-
"easter_egg_179",
|
| 455 |
-
"easter_egg_179"
|
| 456 |
-
],
|
| 457 |
-
"spatial_prefix": [
|
| 458 |
-
[],
|
| 459 |
-
[
|
| 460 |
-
[],
|
| 461 |
-
[],
|
| 462 |
-
[
|
| 463 |
-
"in_front_of"
|
| 464 |
-
]
|
| 465 |
-
]
|
| 466 |
-
],
|
| 467 |
-
"frame_duration": [
|
| 468 |
-
5643,
|
| 469 |
-
6841
|
| 470 |
-
],
|
| 471 |
-
"skill_idxes": [
|
| 472 |
-
8,
|
| 473 |
-
9
|
| 474 |
-
]
|
| 475 |
}
|
| 476 |
]
|
| 477 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6841,
|
| 6 |
+
"valid_duration": [0, 6841]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1079],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1082, 1547],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1550, 2616],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2619, 3216],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3216, 4101],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [4101, 4377],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4377, 5190],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [5190, 5643],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [2],
|
| 108 |
+
"skill_description": ["pick up from"],
|
| 109 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5643, 6277],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [91],
|
| 120 |
+
"skill_description": ["place on next to"],
|
| 121 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 125 |
+
"frame_duration": [6277, 6841],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
}
|
| 129 |
],
|
| 130 |
"primitive_annotation": [
|
| 131 |
{
|
| 132 |
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [1, 2, 3],
|
| 134 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 135 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 136 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 137 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 3216],
|
| 140 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 141 |
},
|
| 142 |
{
|
| 143 |
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 91],
|
| 145 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 146 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 147 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 150 |
+
"frame_duration": [3216, 4377],
|
| 151 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 91],
|
| 156 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 157 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 158 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 161 |
+
"frame_duration": [4377, 5643],
|
| 162 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 163 |
},
|
| 164 |
{
|
| 165 |
"primitive_idx": 3,
|
| 166 |
+
"primitive_id": [2, 91],
|
| 167 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 168 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 169 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 170 |
+
"memory_prefix": ["the other", ""],
|
| 171 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 172 |
+
"frame_duration": [5643, 6841],
|
| 173 |
+
"skill_idxes": [8, 9]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 174 |
}
|
| 175 |
]
|
| 176 |
}
|
annotations/task-0006/episode_00060640.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6181,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
32,
|
| 8 |
-
6213
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
32,
|
| 29 |
-
576
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
576,
|
| 56 |
-
1401
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1401,
|
| 80 |
-
1686
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1686,
|
| 107 |
-
2138
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2138,
|
| 134 |
-
2641
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_0"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2641,
|
| 168 |
-
3216
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3216,
|
| 192 |
-
3512
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3512,
|
| 219 |
-
4363
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_0"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
4363,
|
| 253 |
-
4947
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4947,
|
| 277 |
-
5193
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
5194,
|
| 304 |
-
5785
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_0"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
5785,
|
| 338 |
-
6213
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_dyymaq_0"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
2138
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_180",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_180",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_dyymaq_0"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_180",
|
| 412 |
-
"easter_egg_180"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
2138,
|
| 426 |
-
3216
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_179",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_179",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_dyymaq_0"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_179",
|
| 456 |
-
"easter_egg_179"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
3216,
|
| 470 |
-
4947
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_181",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_181",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_dyymaq_0"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_181",
|
| 501 |
-
"easter_egg_181"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
4947,
|
| 515 |
-
6213
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6181,
|
| 6 |
+
"valid_duration": [32, 6213]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [32, 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [576, 1401],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1401, 1686],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1686, 2138],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2138, 2641],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2641, 3216],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3216, 3512],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3512, 4363],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [4363, 4947],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4947, 5193],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5194, 5785],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [5785, 6213],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [32, 2138],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2138, 3216],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [3216, 4947],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [4947, 6213],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060700.json
CHANGED
|
@@ -3,500 +3,186 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5435,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
5435
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1308
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1308,
|
| 56 |
-
1785
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1785,
|
| 80 |
-
2035
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2035,
|
| 107 |
-
2198
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2198,
|
| 134 |
-
2896
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2897,
|
| 168 |
-
3360
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3360,
|
| 192 |
-
3384
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3384,
|
| 219 |
-
3788
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3788,
|
| 253 |
-
4438
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"easter_egg_179",
|
| 271 |
-
"wicker_basket_178"
|
| 272 |
-
]
|
| 273 |
-
],
|
| 274 |
-
"manipulating_object_id": [
|
| 275 |
-
"easter_egg_179"
|
| 276 |
-
],
|
| 277 |
"spatial_prefix": [],
|
| 278 |
-
"frame_duration": [
|
| 279 |
-
4438,
|
| 280 |
-
4878
|
| 281 |
-
],
|
| 282 |
"mp_ef": [],
|
| 283 |
-
"skill_type": [
|
| 284 |
-
"uncoordinated"
|
| 285 |
-
]
|
| 286 |
},
|
| 287 |
{
|
| 288 |
"skill_idx": 10,
|
| 289 |
-
"skill_id": [
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
[
|
| 297 |
-
"easter_egg_179",
|
| 298 |
-
"lawn_aztwla_0",
|
| 299 |
-
"tree_rrhqpw_2"
|
| 300 |
-
]
|
| 301 |
-
],
|
| 302 |
-
"manipulating_object_id": [
|
| 303 |
-
"easter_egg_179"
|
| 304 |
-
],
|
| 305 |
-
"spatial_prefix": [
|
| 306 |
-
[
|
| 307 |
-
"",
|
| 308 |
-
"",
|
| 309 |
-
"in_front_of"
|
| 310 |
-
]
|
| 311 |
-
],
|
| 312 |
-
"frame_duration": [
|
| 313 |
-
4878,
|
| 314 |
-
5435
|
| 315 |
-
],
|
| 316 |
"mp_ef": [],
|
| 317 |
-
"skill_type": [
|
| 318 |
-
"uncoordinated"
|
| 319 |
-
]
|
| 320 |
}
|
| 321 |
],
|
| 322 |
"primitive_annotation": [
|
| 323 |
{
|
| 324 |
"primitive_idx": 0,
|
| 325 |
-
"primitive_id": [
|
| 326 |
-
|
| 327 |
-
|
| 328 |
-
|
| 329 |
-
],
|
| 330 |
-
"primitive_description": [
|
| 331 |
-
"move to",
|
| 332 |
-
"pick up from",
|
| 333 |
-
"place on"
|
| 334 |
-
],
|
| 335 |
-
"object_id": [
|
| 336 |
-
[
|
| 337 |
-
[
|
| 338 |
-
"wicker_basket_178",
|
| 339 |
-
"tree_rrhqpw_2"
|
| 340 |
-
]
|
| 341 |
-
],
|
| 342 |
-
[
|
| 343 |
-
"wicker_basket_178",
|
| 344 |
-
"lawn_aztwla_0"
|
| 345 |
-
],
|
| 346 |
-
[
|
| 347 |
-
"wicker_basket_178",
|
| 348 |
-
"lawn_aztwla_0"
|
| 349 |
-
]
|
| 350 |
-
],
|
| 351 |
-
"manipulating_object_id": [
|
| 352 |
-
[],
|
| 353 |
-
"wicker_basket_178",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
"spatial_prefix": [],
|
| 357 |
-
"frame_duration": [
|
| 358 |
-
|
| 359 |
-
2198
|
| 360 |
-
],
|
| 361 |
-
"skill_idxes": [
|
| 362 |
-
0,
|
| 363 |
-
1,
|
| 364 |
-
2,
|
| 365 |
-
3
|
| 366 |
-
]
|
| 367 |
},
|
| 368 |
{
|
| 369 |
"primitive_idx": 1,
|
| 370 |
-
"primitive_id": [
|
| 371 |
-
|
| 372 |
-
|
| 373 |
-
],
|
| 374 |
-
"
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
]
|
| 378 |
-
"object_id": [
|
| 379 |
-
[
|
| 380 |
-
"easter_egg_181",
|
| 381 |
-
"wicker_basket_178"
|
| 382 |
-
],
|
| 383 |
-
[
|
| 384 |
-
"easter_egg_181",
|
| 385 |
-
"lawn_aztwla_0",
|
| 386 |
-
"tree_rrhqpw_2"
|
| 387 |
-
]
|
| 388 |
-
],
|
| 389 |
-
"manipulating_object_id": [
|
| 390 |
-
"easter_egg_181",
|
| 391 |
-
"easter_egg_181"
|
| 392 |
-
],
|
| 393 |
-
"spatial_prefix": [
|
| 394 |
-
[],
|
| 395 |
-
[
|
| 396 |
-
[],
|
| 397 |
-
[],
|
| 398 |
-
[
|
| 399 |
-
"in_front_of"
|
| 400 |
-
]
|
| 401 |
-
]
|
| 402 |
-
],
|
| 403 |
-
"frame_duration": [
|
| 404 |
-
2198,
|
| 405 |
-
3360
|
| 406 |
-
],
|
| 407 |
-
"skill_idxes": [
|
| 408 |
-
4,
|
| 409 |
-
5
|
| 410 |
-
]
|
| 411 |
},
|
| 412 |
{
|
| 413 |
"primitive_idx": 2,
|
| 414 |
-
"primitive_id": [
|
| 415 |
-
|
| 416 |
-
|
| 417 |
-
],
|
| 418 |
-
"
|
| 419 |
-
|
| 420 |
-
|
| 421 |
-
]
|
| 422 |
-
"object_id": [
|
| 423 |
-
[
|
| 424 |
-
"easter_egg_180",
|
| 425 |
-
"wicker_basket_178"
|
| 426 |
-
],
|
| 427 |
-
[
|
| 428 |
-
"easter_egg_180",
|
| 429 |
-
"lawn_aztwla_0",
|
| 430 |
-
"tree_rrhqpw_2"
|
| 431 |
-
]
|
| 432 |
-
],
|
| 433 |
-
"manipulating_object_id": [
|
| 434 |
-
"easter_egg_180",
|
| 435 |
-
"easter_egg_180"
|
| 436 |
-
],
|
| 437 |
-
"spatial_prefix": [
|
| 438 |
-
[],
|
| 439 |
-
[
|
| 440 |
-
[],
|
| 441 |
-
[],
|
| 442 |
-
[
|
| 443 |
-
"in_front_of"
|
| 444 |
-
]
|
| 445 |
-
]
|
| 446 |
-
],
|
| 447 |
-
"frame_duration": [
|
| 448 |
-
3360,
|
| 449 |
-
4438
|
| 450 |
-
],
|
| 451 |
-
"skill_idxes": [
|
| 452 |
-
6,
|
| 453 |
-
7,
|
| 454 |
-
8
|
| 455 |
-
]
|
| 456 |
},
|
| 457 |
{
|
| 458 |
"primitive_idx": 3,
|
| 459 |
-
"primitive_id": [
|
| 460 |
-
|
| 461 |
-
|
| 462 |
-
],
|
| 463 |
-
"
|
| 464 |
-
|
| 465 |
-
|
| 466 |
-
]
|
| 467 |
-
"object_id": [
|
| 468 |
-
[
|
| 469 |
-
"easter_egg_179",
|
| 470 |
-
"wicker_basket_178"
|
| 471 |
-
],
|
| 472 |
-
[
|
| 473 |
-
"easter_egg_179",
|
| 474 |
-
"lawn_aztwla_0",
|
| 475 |
-
"tree_rrhqpw_2"
|
| 476 |
-
]
|
| 477 |
-
],
|
| 478 |
-
"manipulating_object_id": [
|
| 479 |
-
"easter_egg_179",
|
| 480 |
-
"easter_egg_179"
|
| 481 |
-
],
|
| 482 |
-
"spatial_prefix": [
|
| 483 |
-
[],
|
| 484 |
-
[
|
| 485 |
-
[],
|
| 486 |
-
[],
|
| 487 |
-
[
|
| 488 |
-
"in_front_of"
|
| 489 |
-
]
|
| 490 |
-
]
|
| 491 |
-
],
|
| 492 |
-
"frame_duration": [
|
| 493 |
-
4438,
|
| 494 |
-
5435
|
| 495 |
-
],
|
| 496 |
-
"skill_idxes": [
|
| 497 |
-
9,
|
| 498 |
-
10
|
| 499 |
-
]
|
| 500 |
}
|
| 501 |
]
|
| 502 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5435,
|
| 6 |
+
"valid_duration": [0, 5435]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1308],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1308, 1785],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1785, 2035],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2035, 2198],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2198, 2896],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2897, 3360],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3360, 3384],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3384, 3788],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [3788, 4438],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4438, 4878],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [91],
|
| 132 |
+
"skill_description": ["place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 137 |
+
"frame_duration": [4878, 5435],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
}
|
| 141 |
],
|
| 142 |
"primitive_annotation": [
|
| 143 |
{
|
| 144 |
"primitive_idx": 0,
|
| 145 |
+
"primitive_id": [1, 2, 3],
|
| 146 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 147 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 148 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 149 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"spatial_prefix": [],
|
| 151 |
+
"frame_duration": [0, 2198],
|
| 152 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 153 |
},
|
| 154 |
{
|
| 155 |
"primitive_idx": 1,
|
| 156 |
+
"primitive_id": [2, 91],
|
| 157 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 158 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 159 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 160 |
+
"memory_prefix": [],
|
| 161 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 162 |
+
"frame_duration": [2198, 3360],
|
| 163 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"primitive_idx": 2,
|
| 167 |
+
"primitive_id": [2, 91],
|
| 168 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 171 |
+
"memory_prefix": ["the other", ""],
|
| 172 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 173 |
+
"frame_duration": [3360, 4438],
|
| 174 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 175 |
},
|
| 176 |
{
|
| 177 |
"primitive_idx": 3,
|
| 178 |
+
"primitive_id": [2, 91],
|
| 179 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 180 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 181 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 182 |
+
"memory_prefix": ["the other", ""],
|
| 183 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 184 |
+
"frame_duration": [4438, 5435],
|
| 185 |
+
"skill_idxes": [9, 10]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 186 |
}
|
| 187 |
]
|
| 188 |
}
|
annotations/task-0006/episode_00060740.json
CHANGED
|
@@ -3,472 +3,174 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7515,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
7515
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
4016
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
4016,
|
| 56 |
-
4430
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
4430,
|
| 80 |
-
4974
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
4974,
|
| 107 |
-
5118
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
5118,
|
| 134 |
-
5595
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
5595,
|
| 168 |
-
5863
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"
|
| 181 |
-
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"easter_egg_179",
|
| 186 |
-
"wicker_basket_178"
|
| 187 |
-
]
|
| 188 |
-
],
|
| 189 |
-
"manipulating_object_id": [
|
| 190 |
-
"easter_egg_179"
|
| 191 |
-
],
|
| 192 |
"spatial_prefix": [],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
5863,
|
| 195 |
-
6429
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_179",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_1"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_179"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
6429,
|
| 229 |
-
6555
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"
|
| 242 |
-
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"easter_egg_180",
|
| 247 |
-
"wicker_basket_178"
|
| 248 |
-
]
|
| 249 |
-
],
|
| 250 |
-
"manipulating_object_id": [
|
| 251 |
-
"easter_egg_180"
|
| 252 |
-
],
|
| 253 |
"spatial_prefix": [],
|
| 254 |
-
"frame_duration": [
|
| 255 |
-
6555,
|
| 256 |
-
7161
|
| 257 |
-
],
|
| 258 |
"mp_ef": [],
|
| 259 |
-
"skill_type": [
|
| 260 |
-
"uncoordinated"
|
| 261 |
-
]
|
| 262 |
},
|
| 263 |
{
|
| 264 |
"skill_idx": 9,
|
| 265 |
-
"skill_id": [
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"
|
| 269 |
-
|
| 270 |
-
],
|
| 271 |
-
"
|
| 272 |
-
[
|
| 273 |
-
"easter_egg_180",
|
| 274 |
-
"lawn_aztwla_0",
|
| 275 |
-
"tree_dyymaq_1"
|
| 276 |
-
]
|
| 277 |
-
],
|
| 278 |
-
"manipulating_object_id": [
|
| 279 |
-
"easter_egg_180"
|
| 280 |
-
],
|
| 281 |
-
"spatial_prefix": [
|
| 282 |
-
[
|
| 283 |
-
"",
|
| 284 |
-
"",
|
| 285 |
-
"in_front_of"
|
| 286 |
-
]
|
| 287 |
-
],
|
| 288 |
-
"frame_duration": [
|
| 289 |
-
7161,
|
| 290 |
-
7515
|
| 291 |
-
],
|
| 292 |
"mp_ef": [],
|
| 293 |
-
"skill_type": [
|
| 294 |
-
"uncoordinated"
|
| 295 |
-
]
|
| 296 |
}
|
| 297 |
],
|
| 298 |
"primitive_annotation": [
|
| 299 |
{
|
| 300 |
"primitive_idx": 0,
|
| 301 |
-
"primitive_id": [
|
| 302 |
-
|
| 303 |
-
|
| 304 |
-
|
| 305 |
-
],
|
| 306 |
-
"primitive_description": [
|
| 307 |
-
"pick up from",
|
| 308 |
-
"move to",
|
| 309 |
-
"place on"
|
| 310 |
-
],
|
| 311 |
-
"object_id": [
|
| 312 |
-
[
|
| 313 |
-
"wicker_basket_178",
|
| 314 |
-
"lawn_aztwla_0"
|
| 315 |
-
],
|
| 316 |
-
[
|
| 317 |
-
"tree_dyymaq_1"
|
| 318 |
-
],
|
| 319 |
-
[
|
| 320 |
-
"wicker_basket_178",
|
| 321 |
-
"lawn_aztwla_0"
|
| 322 |
-
]
|
| 323 |
-
],
|
| 324 |
-
"manipulating_object_id": [
|
| 325 |
-
"wicker_basket_178",
|
| 326 |
-
[],
|
| 327 |
-
"wicker_basket_178"
|
| 328 |
-
],
|
| 329 |
"spatial_prefix": [],
|
| 330 |
-
"frame_duration": [
|
| 331 |
-
|
| 332 |
-
5118
|
| 333 |
-
],
|
| 334 |
-
"skill_idxes": [
|
| 335 |
-
0,
|
| 336 |
-
1,
|
| 337 |
-
2,
|
| 338 |
-
3
|
| 339 |
-
]
|
| 340 |
},
|
| 341 |
{
|
| 342 |
"primitive_idx": 1,
|
| 343 |
-
"primitive_id": [
|
| 344 |
-
|
| 345 |
-
|
| 346 |
-
],
|
| 347 |
-
"
|
| 348 |
-
|
| 349 |
-
|
| 350 |
-
]
|
| 351 |
-
"object_id": [
|
| 352 |
-
[
|
| 353 |
-
"easter_egg_181",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
-
[
|
| 357 |
-
"easter_egg_181",
|
| 358 |
-
"lawn_aztwla_0",
|
| 359 |
-
"tree_dyymaq_1"
|
| 360 |
-
]
|
| 361 |
-
],
|
| 362 |
-
"manipulating_object_id": [
|
| 363 |
-
"easter_egg_181",
|
| 364 |
-
"easter_egg_181"
|
| 365 |
-
],
|
| 366 |
-
"spatial_prefix": [
|
| 367 |
-
[],
|
| 368 |
-
[
|
| 369 |
-
[],
|
| 370 |
-
[],
|
| 371 |
-
[
|
| 372 |
-
"in_front_of"
|
| 373 |
-
]
|
| 374 |
-
]
|
| 375 |
-
],
|
| 376 |
-
"frame_duration": [
|
| 377 |
-
5118,
|
| 378 |
-
5863
|
| 379 |
-
],
|
| 380 |
-
"skill_idxes": [
|
| 381 |
-
4,
|
| 382 |
-
5
|
| 383 |
-
]
|
| 384 |
},
|
| 385 |
{
|
| 386 |
"primitive_idx": 2,
|
| 387 |
-
"primitive_id": [
|
| 388 |
-
|
| 389 |
-
|
| 390 |
-
],
|
| 391 |
-
"
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
]
|
| 395 |
-
"object_id": [
|
| 396 |
-
[
|
| 397 |
-
"easter_egg_179",
|
| 398 |
-
"wicker_basket_178"
|
| 399 |
-
],
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_179",
|
| 402 |
-
"lawn_aztwla_0",
|
| 403 |
-
"tree_dyymaq_1"
|
| 404 |
-
]
|
| 405 |
-
],
|
| 406 |
-
"manipulating_object_id": [
|
| 407 |
-
"easter_egg_179",
|
| 408 |
-
"easter_egg_179"
|
| 409 |
-
],
|
| 410 |
-
"spatial_prefix": [
|
| 411 |
-
[],
|
| 412 |
-
[
|
| 413 |
-
[],
|
| 414 |
-
[],
|
| 415 |
-
[
|
| 416 |
-
"in_front_of"
|
| 417 |
-
]
|
| 418 |
-
]
|
| 419 |
-
],
|
| 420 |
-
"frame_duration": [
|
| 421 |
-
5863,
|
| 422 |
-
6555
|
| 423 |
-
],
|
| 424 |
-
"skill_idxes": [
|
| 425 |
-
6,
|
| 426 |
-
7
|
| 427 |
-
]
|
| 428 |
},
|
| 429 |
{
|
| 430 |
"primitive_idx": 3,
|
| 431 |
-
"primitive_id": [
|
| 432 |
-
|
| 433 |
-
|
| 434 |
-
],
|
| 435 |
-
"
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
]
|
| 439 |
-
"object_id": [
|
| 440 |
-
[
|
| 441 |
-
"easter_egg_180",
|
| 442 |
-
"wicker_basket_178"
|
| 443 |
-
],
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_180",
|
| 446 |
-
"lawn_aztwla_0",
|
| 447 |
-
"tree_dyymaq_1"
|
| 448 |
-
]
|
| 449 |
-
],
|
| 450 |
-
"manipulating_object_id": [
|
| 451 |
-
"easter_egg_180",
|
| 452 |
-
"easter_egg_180"
|
| 453 |
-
],
|
| 454 |
-
"spatial_prefix": [
|
| 455 |
-
[],
|
| 456 |
-
[
|
| 457 |
-
[],
|
| 458 |
-
[],
|
| 459 |
-
[
|
| 460 |
-
"in_front_of"
|
| 461 |
-
]
|
| 462 |
-
]
|
| 463 |
-
],
|
| 464 |
-
"frame_duration": [
|
| 465 |
-
6555,
|
| 466 |
-
7515
|
| 467 |
-
],
|
| 468 |
-
"skill_idxes": [
|
| 469 |
-
8,
|
| 470 |
-
9
|
| 471 |
-
]
|
| 472 |
}
|
| 473 |
]
|
| 474 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7515,
|
| 6 |
+
"valid_duration": [0, 7515]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 4016],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [4016, 4430],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [4430, 4974],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4974, 5118],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5118, 5595],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [5595, 5863],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5863, 6429],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [6429, 6555],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [2],
|
| 108 |
+
"skill_description": ["pick up from"],
|
| 109 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [6555, 7161],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [91],
|
| 120 |
+
"skill_description": ["place on next to"],
|
| 121 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 125 |
+
"frame_duration": [7161, 7515],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
}
|
| 129 |
],
|
| 130 |
"primitive_annotation": [
|
| 131 |
{
|
| 132 |
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [2, 1, 3],
|
| 134 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 135 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_1"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 136 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 137 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 5118],
|
| 140 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 141 |
},
|
| 142 |
{
|
| 143 |
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 91],
|
| 145 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 146 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 147 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 150 |
+
"frame_duration": [5118, 5863],
|
| 151 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 91],
|
| 156 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 157 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 158 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 161 |
+
"frame_duration": [5863, 6555],
|
| 162 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 163 |
},
|
| 164 |
{
|
| 165 |
"primitive_idx": 3,
|
| 166 |
+
"primitive_id": [2, 91],
|
| 167 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 168 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 169 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 170 |
+
"memory_prefix": ["the other", ""],
|
| 171 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 172 |
+
"frame_duration": [6555, 7515],
|
| 173 |
+
"skill_idxes": [8, 9]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 174 |
}
|
| 175 |
]
|
| 176 |
}
|
annotations/task-0006/episode_00060770.json
CHANGED
|
@@ -3,521 +3,199 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7613,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
7613
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1388
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1388,
|
| 56 |
-
2057
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_flkzbo_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2057,
|
| 80 |
-
2303
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2303,
|
| 107 |
-
2641
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2641,
|
| 134 |
-
3468
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"skill_description": [
|
| 147 |
-
"move to"
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"tree_flkzbo_1"
|
| 152 |
-
]
|
| 153 |
-
],
|
| 154 |
"manipulating_object_id": [],
|
|
|
|
| 155 |
"spatial_prefix": [],
|
| 156 |
-
"frame_duration": [
|
| 157 |
-
3468,
|
| 158 |
-
3810
|
| 159 |
-
],
|
| 160 |
"mp_ef": [],
|
| 161 |
-
"skill_type": [
|
| 162 |
-
"navigation"
|
| 163 |
-
]
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"skill_idx": 6,
|
| 167 |
-
"skill_id": [
|
| 168 |
-
|
| 169 |
-
],
|
| 170 |
-
"
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"
|
| 174 |
-
[
|
| 175 |
-
"easter_egg_179",
|
| 176 |
-
"lawn_aztwla_0",
|
| 177 |
-
"tree_flkzbo_1"
|
| 178 |
-
]
|
| 179 |
-
],
|
| 180 |
-
"manipulating_object_id": [
|
| 181 |
-
"easter_egg_179"
|
| 182 |
-
],
|
| 183 |
-
"spatial_prefix": [
|
| 184 |
-
[
|
| 185 |
-
"",
|
| 186 |
-
"",
|
| 187 |
-
"in_front_of"
|
| 188 |
-
]
|
| 189 |
-
],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3810,
|
| 192 |
-
4152
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"uncoordinated"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"skill_description": [
|
| 205 |
-
"move to"
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"wicker_basket_178"
|
| 210 |
-
]
|
| 211 |
-
],
|
| 212 |
"manipulating_object_id": [],
|
|
|
|
| 213 |
"spatial_prefix": [],
|
| 214 |
-
"frame_duration": [
|
| 215 |
-
4152,
|
| 216 |
-
4444
|
| 217 |
-
],
|
| 218 |
"mp_ef": [],
|
| 219 |
-
"skill_type": [
|
| 220 |
-
"navigation"
|
| 221 |
-
]
|
| 222 |
},
|
| 223 |
{
|
| 224 |
"skill_idx": 8,
|
| 225 |
-
"skill_id": [
|
| 226 |
-
|
| 227 |
-
],
|
| 228 |
-
"
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"object_id": [
|
| 232 |
-
[
|
| 233 |
-
"easter_egg_180",
|
| 234 |
-
"wicker_basket_178"
|
| 235 |
-
]
|
| 236 |
-
],
|
| 237 |
-
"manipulating_object_id": [
|
| 238 |
-
"easter_egg_180"
|
| 239 |
-
],
|
| 240 |
"spatial_prefix": [],
|
| 241 |
-
"frame_duration": [
|
| 242 |
-
4444,
|
| 243 |
-
5112
|
| 244 |
-
],
|
| 245 |
"mp_ef": [],
|
| 246 |
-
"skill_type": [
|
| 247 |
-
"uncoordinated"
|
| 248 |
-
]
|
| 249 |
},
|
| 250 |
{
|
| 251 |
"skill_idx": 9,
|
| 252 |
-
"skill_id": [
|
| 253 |
-
|
| 254 |
-
],
|
| 255 |
-
"
|
| 256 |
-
|
| 257 |
-
],
|
| 258 |
-
"object_id": [
|
| 259 |
-
[
|
| 260 |
-
"easter_egg_181",
|
| 261 |
-
"wicker_basket_178"
|
| 262 |
-
]
|
| 263 |
-
],
|
| 264 |
-
"manipulating_object_id": [
|
| 265 |
-
"easter_egg_181"
|
| 266 |
-
],
|
| 267 |
"spatial_prefix": [],
|
| 268 |
-
"frame_duration": [
|
| 269 |
-
5112,
|
| 270 |
-
5773
|
| 271 |
-
],
|
| 272 |
"mp_ef": [],
|
| 273 |
-
"skill_type": [
|
| 274 |
-
"uncoordinated"
|
| 275 |
-
]
|
| 276 |
},
|
| 277 |
{
|
| 278 |
"skill_idx": 10,
|
| 279 |
-
"skill_id": [
|
| 280 |
-
|
| 281 |
-
],
|
| 282 |
-
"skill_description": [
|
| 283 |
-
"move to"
|
| 284 |
-
],
|
| 285 |
-
"object_id": [
|
| 286 |
-
[
|
| 287 |
-
"tree_flkzbo_1"
|
| 288 |
-
]
|
| 289 |
-
],
|
| 290 |
"manipulating_object_id": [],
|
|
|
|
| 291 |
"spatial_prefix": [],
|
| 292 |
-
"frame_duration": [
|
| 293 |
-
5773,
|
| 294 |
-
6540
|
| 295 |
-
],
|
| 296 |
"mp_ef": [],
|
| 297 |
-
"skill_type": [
|
| 298 |
-
"navigation"
|
| 299 |
-
]
|
| 300 |
},
|
| 301 |
{
|
| 302 |
"skill_idx": 11,
|
| 303 |
-
"skill_id": [
|
| 304 |
-
|
| 305 |
-
],
|
| 306 |
-
"
|
| 307 |
-
|
| 308 |
-
],
|
| 309 |
-
"
|
| 310 |
-
[
|
| 311 |
-
"easter_egg_180",
|
| 312 |
-
"lawn_aztwla_0",
|
| 313 |
-
"tree_flkzbo_1"
|
| 314 |
-
]
|
| 315 |
-
],
|
| 316 |
-
"manipulating_object_id": [
|
| 317 |
-
"easter_egg_180"
|
| 318 |
-
],
|
| 319 |
-
"spatial_prefix": [
|
| 320 |
-
[
|
| 321 |
-
"",
|
| 322 |
-
"",
|
| 323 |
-
"in_front_of"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"frame_duration": [
|
| 327 |
-
6540,
|
| 328 |
-
6914
|
| 329 |
-
],
|
| 330 |
"mp_ef": [],
|
| 331 |
-
"skill_type": [
|
| 332 |
-
"uncoordinated"
|
| 333 |
-
]
|
| 334 |
},
|
| 335 |
{
|
| 336 |
"skill_idx": 12,
|
| 337 |
-
"skill_id": [
|
| 338 |
-
|
| 339 |
-
],
|
| 340 |
-
"
|
| 341 |
-
|
| 342 |
-
],
|
| 343 |
-
"
|
| 344 |
-
[
|
| 345 |
-
"easter_egg_181",
|
| 346 |
-
"lawn_aztwla_0",
|
| 347 |
-
"tree_flkzbo_1"
|
| 348 |
-
]
|
| 349 |
-
],
|
| 350 |
-
"manipulating_object_id": [
|
| 351 |
-
"easter_egg_181"
|
| 352 |
-
],
|
| 353 |
-
"spatial_prefix": [
|
| 354 |
-
[
|
| 355 |
-
"",
|
| 356 |
-
"",
|
| 357 |
-
"in_front_of"
|
| 358 |
-
]
|
| 359 |
-
],
|
| 360 |
-
"frame_duration": [
|
| 361 |
-
6914,
|
| 362 |
-
7613
|
| 363 |
-
],
|
| 364 |
"mp_ef": [],
|
| 365 |
-
"skill_type": [
|
| 366 |
-
"uncoordinated"
|
| 367 |
-
]
|
| 368 |
}
|
| 369 |
],
|
| 370 |
"primitive_annotation": [
|
| 371 |
{
|
| 372 |
"primitive_idx": 0,
|
| 373 |
-
"primitive_id": [
|
| 374 |
-
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
],
|
| 378 |
-
"primitive_description": [
|
| 379 |
-
"move to",
|
| 380 |
-
"pick up from",
|
| 381 |
-
"place on"
|
| 382 |
-
],
|
| 383 |
-
"object_id": [
|
| 384 |
-
[
|
| 385 |
-
[
|
| 386 |
-
"wicker_basket_178",
|
| 387 |
-
"tree_flkzbo_1"
|
| 388 |
-
]
|
| 389 |
-
],
|
| 390 |
-
[
|
| 391 |
-
"wicker_basket_178",
|
| 392 |
-
"lawn_aztwla_0"
|
| 393 |
-
],
|
| 394 |
-
[
|
| 395 |
-
"wicker_basket_178",
|
| 396 |
-
"lawn_aztwla_0"
|
| 397 |
-
]
|
| 398 |
-
],
|
| 399 |
-
"manipulating_object_id": [
|
| 400 |
-
[],
|
| 401 |
-
"wicker_basket_178",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
"spatial_prefix": [],
|
| 405 |
-
"frame_duration": [
|
| 406 |
-
|
| 407 |
-
2641
|
| 408 |
-
],
|
| 409 |
-
"skill_idxes": [
|
| 410 |
-
0,
|
| 411 |
-
1,
|
| 412 |
-
2,
|
| 413 |
-
3
|
| 414 |
-
]
|
| 415 |
},
|
| 416 |
{
|
| 417 |
"primitive_idx": 1,
|
| 418 |
-
"primitive_id": [
|
| 419 |
-
|
| 420 |
-
|
| 421 |
-
],
|
| 422 |
-
"
|
| 423 |
-
|
| 424 |
-
|
| 425 |
-
]
|
| 426 |
-
"object_id": [
|
| 427 |
-
[
|
| 428 |
-
"easter_egg_179",
|
| 429 |
-
"wicker_basket_178"
|
| 430 |
-
],
|
| 431 |
-
[
|
| 432 |
-
"easter_egg_179",
|
| 433 |
-
"lawn_aztwla_0",
|
| 434 |
-
"tree_flkzbo_1"
|
| 435 |
-
]
|
| 436 |
-
],
|
| 437 |
-
"manipulating_object_id": [
|
| 438 |
-
"easter_egg_179",
|
| 439 |
-
"easter_egg_179"
|
| 440 |
-
],
|
| 441 |
-
"spatial_prefix": [
|
| 442 |
-
[],
|
| 443 |
-
[
|
| 444 |
-
[],
|
| 445 |
-
[],
|
| 446 |
-
[
|
| 447 |
-
"in_front_of"
|
| 448 |
-
]
|
| 449 |
-
]
|
| 450 |
-
],
|
| 451 |
-
"frame_duration": [
|
| 452 |
-
2641,
|
| 453 |
-
4152
|
| 454 |
-
],
|
| 455 |
-
"skill_idxes": [
|
| 456 |
-
4,
|
| 457 |
-
5,
|
| 458 |
-
6
|
| 459 |
-
]
|
| 460 |
},
|
| 461 |
{
|
| 462 |
"primitive_idx": 2,
|
| 463 |
-
"primitive_id": [
|
| 464 |
-
|
| 465 |
-
|
| 466 |
-
],
|
| 467 |
-
"
|
| 468 |
-
|
| 469 |
-
|
| 470 |
-
]
|
| 471 |
-
"object_id": [
|
| 472 |
-
[
|
| 473 |
-
[
|
| 474 |
-
"easter_egg_180",
|
| 475 |
-
"easter_egg_181"
|
| 476 |
-
],
|
| 477 |
-
"wicker_basket_178"
|
| 478 |
-
],
|
| 479 |
-
[
|
| 480 |
-
[
|
| 481 |
-
"easter_egg_180",
|
| 482 |
-
"easter_egg_181"
|
| 483 |
-
],
|
| 484 |
-
"lawn_aztwla_0",
|
| 485 |
-
"tree_flkzbo_1"
|
| 486 |
-
]
|
| 487 |
-
],
|
| 488 |
-
"manipulating_object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_180",
|
| 491 |
-
"easter_egg_181"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_180",
|
| 495 |
-
"easter_egg_181"
|
| 496 |
-
]
|
| 497 |
-
],
|
| 498 |
-
"spatial_prefix": [
|
| 499 |
-
[],
|
| 500 |
-
[
|
| 501 |
-
[],
|
| 502 |
-
[],
|
| 503 |
-
[
|
| 504 |
-
"in_front_of",
|
| 505 |
-
"in_front_of"
|
| 506 |
-
]
|
| 507 |
-
]
|
| 508 |
-
],
|
| 509 |
-
"frame_duration": [
|
| 510 |
-
4152,
|
| 511 |
-
7613
|
| 512 |
-
],
|
| 513 |
-
"skill_idxes": [
|
| 514 |
-
7,
|
| 515 |
-
8,
|
| 516 |
-
9,
|
| 517 |
-
10,
|
| 518 |
-
11,
|
| 519 |
-
12
|
| 520 |
-
]
|
| 521 |
}
|
| 522 |
]
|
| 523 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7613,
|
| 6 |
+
"valid_duration": [0, 7613]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1388],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1388, 2057],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_flkzbo_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2057, 2303],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2303, 2641],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2641, 3468],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["tree_flkzbo_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 74 |
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["back"],
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3468, 3810],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [91],
|
| 84 |
+
"skill_description": ["place on next to"],
|
| 85 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 89 |
+
"frame_duration": [3810, 4152],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 98 |
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4152, 4444],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [2],
|
| 108 |
+
"skill_description": ["pick up from"],
|
| 109 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4444, 5112],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5112, 5773],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["tree_flkzbo_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 134 |
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5773, 6540],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [6540, 6914],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"skill_idx": 12,
|
| 155 |
+
"skill_id": [91],
|
| 156 |
+
"skill_description": ["place on next to"],
|
| 157 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 158 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 161 |
+
"frame_duration": [6914, 7613],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 164 |
}
|
| 165 |
],
|
| 166 |
"primitive_annotation": [
|
| 167 |
{
|
| 168 |
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [1, 2, 3],
|
| 170 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 171 |
+
"object_id": [[["wicker_basket_178", "tree_flkzbo_1"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 172 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 173 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 174 |
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 2641],
|
| 176 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 177 |
},
|
| 178 |
{
|
| 179 |
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [2, 91],
|
| 181 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 182 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 183 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 186 |
+
"frame_duration": [2641, 4152],
|
| 187 |
+
"skill_idxes": [4, 5, 6]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 188 |
},
|
| 189 |
{
|
| 190 |
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [2, 91],
|
| 192 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 193 |
+
"object_id": [[["easter_egg_180", "easter_egg_181"], "wicker_basket_178"], [["easter_egg_180", "easter_egg_181"], "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 194 |
+
"manipulating_object_id": [["easter_egg_180", "easter_egg_181"], ["easter_egg_180", "easter_egg_181"]],
|
| 195 |
+
"memory_prefix": ["the other", ""],
|
| 196 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 197 |
+
"frame_duration": [4152, 7613],
|
| 198 |
+
"skill_idxes": [7, 8, 9, 10, 11, 12]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 199 |
}
|
| 200 |
]
|
| 201 |
}
|
annotations/task-0006/episode_00060820.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 9933,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
9933
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
3172
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
3172,
|
| 56 |
-
3642
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_flkzbo_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
3642,
|
| 80 |
-
5157
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
5157,
|
| 107 |
-
5574
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
5575,
|
| 134 |
-
6510
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_flkzbo_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
6511,
|
| 168 |
-
7044
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
7044,
|
| 192 |
-
7239
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_181",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_181"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
7239,
|
| 219 |
-
7965
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_181",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_flkzbo_1"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_181"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
7965,
|
| 253 |
-
8413
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
8413,
|
| 277 |
-
8560
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
8560,
|
| 304 |
-
9247
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_flkzbo_1"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
9247,
|
| 338 |
-
9933
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_flkzbo_1"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
5574
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_180",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_180",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_flkzbo_1"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_180",
|
| 412 |
-
"easter_egg_180"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
5575,
|
| 426 |
-
7044
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_181",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_181",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_flkzbo_1"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_181",
|
| 456 |
-
"easter_egg_181"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
7044,
|
| 470 |
-
8413
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_179",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_179",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_flkzbo_1"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_179",
|
| 501 |
-
"easter_egg_179"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
8413,
|
| 515 |
-
9933
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 9933,
|
| 6 |
+
"valid_duration": [0, 9933]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 3172],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [3172, 3642],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_flkzbo_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3642, 5157],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5157, 5574],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5575, 6510],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [6511, 7044],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7044, 7239],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7239, 7965],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [7965, 8413],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8413, 8560],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [8560, 9247],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [9247, 9933],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_flkzbo_1"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 5574],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [5575, 7044],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [7044, 8413],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [8413, 9933],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00060930.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 12210,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
12210
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
4433
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
4433,
|
| 56 |
-
4983
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
4983,
|
| 80 |
-
5588
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
5588,
|
| 107 |
-
6056
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
6056,
|
| 134 |
-
7322
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_0"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
7322,
|
| 168 |
-
8076
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
8076,
|
| 192 |
-
8322
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
8322,
|
| 219 |
-
8988
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_0"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
8988,
|
| 253 |
-
10383
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
10384,
|
| 277 |
-
10546
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_180",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_180"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
10546,
|
| 304 |
-
11353
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_180",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_0"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_180"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
11359,
|
| 338 |
-
12210
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_dyymaq_0"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
6056
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_181",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_181",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_dyymaq_0"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_181",
|
| 412 |
-
"easter_egg_181"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
6056,
|
| 426 |
-
8076
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_179",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_179",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_dyymaq_0"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_179",
|
| 456 |
-
"easter_egg_179"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
8076,
|
| 470 |
-
10383
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_180",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_180",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_dyymaq_0"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_180",
|
| 501 |
-
"easter_egg_180"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
10384,
|
| 515 |
-
12210
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 12210,
|
| 6 |
+
"valid_duration": [0, 12210]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 4433],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [4433, 4983],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [4983, 5588],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5588, 6056],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6056, 7322],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [7322, 8076],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8076, 8322],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8322, 8988],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [8988, 10383],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10384, 10546],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10546, 11353],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [11359, 12210],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 6056],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [6056, 8076],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [8076, 10383],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [10384, 12210],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061000.json
CHANGED
|
@@ -3,496 +3,187 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7572,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
7572
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1129
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1129,
|
| 56 |
-
1519
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1519,
|
| 80 |
-
2854
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2854,
|
| 107 |
-
3343
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
3343,
|
| 134 |
-
3847
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"wicker_basket_178"
|
| 153 |
-
]
|
| 154 |
-
],
|
| 155 |
-
"manipulating_object_id": [
|
| 156 |
-
"easter_egg_180"
|
| 157 |
-
],
|
| 158 |
"spatial_prefix": [],
|
| 159 |
-
"frame_duration": [
|
| 160 |
-
3847,
|
| 161 |
-
4591
|
| 162 |
-
],
|
| 163 |
"mp_ef": [],
|
| 164 |
-
"skill_type": [
|
| 165 |
-
"uncoordinated"
|
| 166 |
-
]
|
| 167 |
},
|
| 168 |
{
|
| 169 |
"skill_idx": 6,
|
| 170 |
-
"skill_id": [
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"skill_description": [
|
| 174 |
-
"move to"
|
| 175 |
-
],
|
| 176 |
-
"object_id": [
|
| 177 |
-
[
|
| 178 |
-
"tree_dyymaq_1"
|
| 179 |
-
]
|
| 180 |
-
],
|
| 181 |
"manipulating_object_id": [],
|
|
|
|
| 182 |
"spatial_prefix": [],
|
| 183 |
-
"frame_duration": [
|
| 184 |
-
4591,
|
| 185 |
-
4950
|
| 186 |
-
],
|
| 187 |
"mp_ef": [],
|
| 188 |
-
"skill_type": [
|
| 189 |
-
"navigation"
|
| 190 |
-
]
|
| 191 |
},
|
| 192 |
{
|
| 193 |
"skill_idx": 7,
|
| 194 |
-
"skill_id": [
|
| 195 |
-
|
| 196 |
-
],
|
| 197 |
-
"
|
| 198 |
-
|
| 199 |
-
],
|
| 200 |
-
"
|
| 201 |
-
[
|
| 202 |
-
"easter_egg_180",
|
| 203 |
-
"lawn_aztwla_0",
|
| 204 |
-
"tree_dyymaq_1"
|
| 205 |
-
]
|
| 206 |
-
],
|
| 207 |
-
"manipulating_object_id": [
|
| 208 |
-
"easter_egg_180"
|
| 209 |
-
],
|
| 210 |
-
"spatial_prefix": [
|
| 211 |
-
[
|
| 212 |
-
"",
|
| 213 |
-
"",
|
| 214 |
-
"in_front_of"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
4950,
|
| 219 |
-
5338
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_181",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_1"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_181"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
4950,
|
| 253 |
-
5338
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
5338,
|
| 277 |
-
5782
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
5782,
|
| 304 |
-
6370
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_1"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
6370,
|
| 338 |
-
7572
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_1"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
3343
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_181",
|
| 406 |
-
"easter_egg_180"
|
| 407 |
-
],
|
| 408 |
-
"wicker_basket_178"
|
| 409 |
-
],
|
| 410 |
-
[
|
| 411 |
-
[
|
| 412 |
-
"easter_egg_180",
|
| 413 |
-
"easter_egg_181"
|
| 414 |
-
],
|
| 415 |
-
"lawn_aztwla_0",
|
| 416 |
-
"tree_dyymaq_1"
|
| 417 |
-
]
|
| 418 |
-
],
|
| 419 |
-
"manipulating_object_id": [
|
| 420 |
-
[
|
| 421 |
-
"easter_egg_181",
|
| 422 |
-
"easter_egg_180"
|
| 423 |
-
],
|
| 424 |
-
[
|
| 425 |
-
"easter_egg_180",
|
| 426 |
-
"easter_egg_181"
|
| 427 |
-
]
|
| 428 |
-
],
|
| 429 |
-
"spatial_prefix": [
|
| 430 |
-
[],
|
| 431 |
-
[
|
| 432 |
-
[],
|
| 433 |
-
[],
|
| 434 |
-
[
|
| 435 |
-
"in_front_of",
|
| 436 |
-
"in_front_of"
|
| 437 |
-
]
|
| 438 |
-
]
|
| 439 |
-
],
|
| 440 |
-
"frame_duration": [
|
| 441 |
-
3343,
|
| 442 |
-
5338
|
| 443 |
-
],
|
| 444 |
-
"skill_idxes": [
|
| 445 |
-
4,
|
| 446 |
-
5,
|
| 447 |
-
6,
|
| 448 |
-
7,
|
| 449 |
-
8
|
| 450 |
-
]
|
| 451 |
},
|
| 452 |
{
|
| 453 |
"primitive_idx": 2,
|
| 454 |
-
"primitive_id": [
|
| 455 |
-
|
| 456 |
-
|
| 457 |
-
],
|
| 458 |
-
"
|
| 459 |
-
|
| 460 |
-
|
| 461 |
-
]
|
| 462 |
-
"object_id": [
|
| 463 |
-
[
|
| 464 |
-
"easter_egg_179",
|
| 465 |
-
"wicker_basket_178"
|
| 466 |
-
],
|
| 467 |
-
[
|
| 468 |
-
"easter_egg_179",
|
| 469 |
-
"lawn_aztwla_0",
|
| 470 |
-
"tree_dyymaq_1"
|
| 471 |
-
]
|
| 472 |
-
],
|
| 473 |
-
"manipulating_object_id": [
|
| 474 |
-
"easter_egg_179",
|
| 475 |
-
"easter_egg_179"
|
| 476 |
-
],
|
| 477 |
-
"spatial_prefix": [
|
| 478 |
-
[],
|
| 479 |
-
[
|
| 480 |
-
[],
|
| 481 |
-
[],
|
| 482 |
-
[
|
| 483 |
-
"in_front_of"
|
| 484 |
-
]
|
| 485 |
-
]
|
| 486 |
-
],
|
| 487 |
-
"frame_duration": [
|
| 488 |
-
5338,
|
| 489 |
-
7572
|
| 490 |
-
],
|
| 491 |
-
"skill_idxes": [
|
| 492 |
-
9,
|
| 493 |
-
10,
|
| 494 |
-
11
|
| 495 |
-
]
|
| 496 |
}
|
| 497 |
]
|
| 498 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7572,
|
| 6 |
+
"valid_duration": [0, 7572]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1129],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1129, 1519],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1519, 2854],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2854, 3343],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3343, 3847],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [2],
|
| 72 |
+
"skill_description": ["pick up from"],
|
| 73 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3847, 4591],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4591, 4950],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [4950, 5338],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [4950, 5338],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5338, 5782],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5782, 6370],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [6370, 7572],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_1"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 3343],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [[["easter_egg_181", "easter_egg_180"], "wicker_basket_178"], [["easter_egg_180", "easter_egg_181"], "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 171 |
+
"manipulating_object_id": [["easter_egg_181", "easter_egg_180"], ["easter_egg_180", "easter_egg_181"]],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 174 |
+
"frame_duration": [3343, 5338],
|
| 175 |
+
"skill_idxes": [4, 5, 6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [5338, 7572],
|
| 186 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
}
|
| 188 |
]
|
| 189 |
}
|
annotations/task-0006/episode_00061010.json
CHANGED
|
@@ -3,421 +3,163 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6012,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6012
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
981
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"easter_egg_180",
|
| 47 |
-
"wicker_basket_178"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"easter_egg_180"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
981,
|
| 56 |
-
1488
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"
|
| 69 |
-
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"easter_egg_181",
|
| 74 |
-
"wicker_basket_178"
|
| 75 |
-
]
|
| 76 |
-
],
|
| 77 |
-
"manipulating_object_id": [
|
| 78 |
-
"easter_egg_181"
|
| 79 |
-
],
|
| 80 |
"spatial_prefix": [],
|
| 81 |
-
"frame_duration": [
|
| 82 |
-
1488,
|
| 83 |
-
2475
|
| 84 |
-
],
|
| 85 |
"mp_ef": [],
|
| 86 |
-
"skill_type": [
|
| 87 |
-
"uncoordinated"
|
| 88 |
-
]
|
| 89 |
},
|
| 90 |
{
|
| 91 |
"skill_idx": 3,
|
| 92 |
-
"skill_id": [
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"skill_description": [
|
| 96 |
-
"move to"
|
| 97 |
-
],
|
| 98 |
-
"object_id": [
|
| 99 |
-
[
|
| 100 |
-
"tree_dyymaq_2"
|
| 101 |
-
]
|
| 102 |
-
],
|
| 103 |
"manipulating_object_id": [],
|
|
|
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2475,
|
| 107 |
-
2871
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"navigation"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"lawn_aztwla_0",
|
| 126 |
-
"tree_dyymaq_2"
|
| 127 |
-
]
|
| 128 |
-
],
|
| 129 |
-
"manipulating_object_id": [
|
| 130 |
-
"easter_egg_180"
|
| 131 |
-
],
|
| 132 |
-
"spatial_prefix": [
|
| 133 |
-
[
|
| 134 |
-
"",
|
| 135 |
-
"",
|
| 136 |
-
"in_front_of"
|
| 137 |
-
]
|
| 138 |
-
],
|
| 139 |
-
"frame_duration": [
|
| 140 |
-
2871,
|
| 141 |
-
3264
|
| 142 |
-
],
|
| 143 |
"mp_ef": [],
|
| 144 |
-
"skill_type": [
|
| 145 |
-
"uncoordinated"
|
| 146 |
-
]
|
| 147 |
},
|
| 148 |
{
|
| 149 |
"skill_idx": 5,
|
| 150 |
-
"skill_id": [
|
| 151 |
-
|
| 152 |
-
],
|
| 153 |
-
"
|
| 154 |
-
|
| 155 |
-
],
|
| 156 |
-
"
|
| 157 |
-
[
|
| 158 |
-
"easter_egg_181",
|
| 159 |
-
"lawn_aztwla_0",
|
| 160 |
-
"tree_dyymaq_2"
|
| 161 |
-
]
|
| 162 |
-
],
|
| 163 |
-
"manipulating_object_id": [
|
| 164 |
-
"easter_egg_181"
|
| 165 |
-
],
|
| 166 |
-
"spatial_prefix": [
|
| 167 |
-
[
|
| 168 |
-
"",
|
| 169 |
-
"",
|
| 170 |
-
"in_front_of"
|
| 171 |
-
]
|
| 172 |
-
],
|
| 173 |
-
"frame_duration": [
|
| 174 |
-
3264,
|
| 175 |
-
3294
|
| 176 |
-
],
|
| 177 |
"mp_ef": [],
|
| 178 |
-
"skill_type": [
|
| 179 |
-
"uncoordinated"
|
| 180 |
-
]
|
| 181 |
},
|
| 182 |
{
|
| 183 |
"skill_idx": 6,
|
| 184 |
-
"skill_id": [
|
| 185 |
-
|
| 186 |
-
],
|
| 187 |
-
"skill_description": [
|
| 188 |
-
"move to"
|
| 189 |
-
],
|
| 190 |
-
"object_id": [
|
| 191 |
-
[
|
| 192 |
-
"wicker_basket_178"
|
| 193 |
-
]
|
| 194 |
-
],
|
| 195 |
"manipulating_object_id": [],
|
|
|
|
| 196 |
"spatial_prefix": [],
|
| 197 |
-
"frame_duration": [
|
| 198 |
-
3294,
|
| 199 |
-
3660
|
| 200 |
-
],
|
| 201 |
"mp_ef": [],
|
| 202 |
-
"skill_type": [
|
| 203 |
-
"navigation"
|
| 204 |
-
]
|
| 205 |
},
|
| 206 |
{
|
| 207 |
"skill_idx": 7,
|
| 208 |
-
"skill_id": [
|
| 209 |
-
|
| 210 |
-
],
|
| 211 |
-
"
|
| 212 |
-
|
| 213 |
-
],
|
| 214 |
-
"object_id": [
|
| 215 |
-
[
|
| 216 |
-
"easter_egg_179",
|
| 217 |
-
"wicker_basket_178"
|
| 218 |
-
]
|
| 219 |
-
],
|
| 220 |
-
"manipulating_object_id": [
|
| 221 |
-
"easter_egg_179"
|
| 222 |
-
],
|
| 223 |
"spatial_prefix": [],
|
| 224 |
-
"frame_duration": [
|
| 225 |
-
3660,
|
| 226 |
-
4440
|
| 227 |
-
],
|
| 228 |
"mp_ef": [],
|
| 229 |
-
"skill_type": [
|
| 230 |
-
"uncoordinated"
|
| 231 |
-
]
|
| 232 |
},
|
| 233 |
{
|
| 234 |
"skill_idx": 8,
|
| 235 |
-
"skill_id": [
|
| 236 |
-
|
| 237 |
-
],
|
| 238 |
-
"skill_description": [
|
| 239 |
-
"move to"
|
| 240 |
-
],
|
| 241 |
-
"object_id": [
|
| 242 |
-
[
|
| 243 |
-
"tree_dyymaq_2"
|
| 244 |
-
]
|
| 245 |
-
],
|
| 246 |
"manipulating_object_id": [],
|
|
|
|
| 247 |
"spatial_prefix": [],
|
| 248 |
-
"frame_duration": [
|
| 249 |
-
4440,
|
| 250 |
-
5060
|
| 251 |
-
],
|
| 252 |
"mp_ef": [],
|
| 253 |
-
"skill_type": [
|
| 254 |
-
"navigation"
|
| 255 |
-
]
|
| 256 |
},
|
| 257 |
{
|
| 258 |
"skill_idx": 9,
|
| 259 |
-
"skill_id": [
|
| 260 |
-
|
| 261 |
-
],
|
| 262 |
-
"
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
[
|
| 267 |
-
"easter_egg_179",
|
| 268 |
-
"lawn_aztwla_0",
|
| 269 |
-
"tree_dyymaq_2"
|
| 270 |
-
]
|
| 271 |
-
],
|
| 272 |
-
"manipulating_object_id": [
|
| 273 |
-
"easter_egg_179"
|
| 274 |
-
],
|
| 275 |
-
"spatial_prefix": [
|
| 276 |
-
[
|
| 277 |
-
"",
|
| 278 |
-
"",
|
| 279 |
-
"in_front_of"
|
| 280 |
-
]
|
| 281 |
-
],
|
| 282 |
-
"frame_duration": [
|
| 283 |
-
5060,
|
| 284 |
-
6012
|
| 285 |
-
],
|
| 286 |
"mp_ef": [],
|
| 287 |
-
"skill_type": [
|
| 288 |
-
"uncoordinated"
|
| 289 |
-
]
|
| 290 |
}
|
| 291 |
],
|
| 292 |
"primitive_annotation": [
|
| 293 |
{
|
| 294 |
"primitive_idx": 0,
|
| 295 |
-
"primitive_id": [
|
| 296 |
-
|
| 297 |
-
],
|
| 298 |
-
"primitive_description": [
|
| 299 |
-
"move to"
|
| 300 |
-
],
|
| 301 |
-
"object_id": [
|
| 302 |
-
[
|
| 303 |
-
"wicker_basket_178"
|
| 304 |
-
]
|
| 305 |
-
],
|
| 306 |
"manipulating_object_id": [],
|
|
|
|
| 307 |
"spatial_prefix": [],
|
| 308 |
-
"frame_duration": [
|
| 309 |
-
|
| 310 |
-
981
|
| 311 |
-
],
|
| 312 |
-
"skill_idxes": [
|
| 313 |
-
0
|
| 314 |
-
]
|
| 315 |
},
|
| 316 |
{
|
| 317 |
"primitive_idx": 1,
|
| 318 |
-
"primitive_id": [
|
| 319 |
-
|
| 320 |
-
|
| 321 |
-
],
|
| 322 |
-
"
|
| 323 |
-
|
| 324 |
-
|
| 325 |
-
]
|
| 326 |
-
"object_id": [
|
| 327 |
-
[
|
| 328 |
-
[
|
| 329 |
-
"easter_egg_180",
|
| 330 |
-
"easter_egg_181"
|
| 331 |
-
],
|
| 332 |
-
"wicker_basket_178"
|
| 333 |
-
],
|
| 334 |
-
[
|
| 335 |
-
[
|
| 336 |
-
"easter_egg_180",
|
| 337 |
-
"easter_egg_181"
|
| 338 |
-
],
|
| 339 |
-
"lawn_aztwla_0",
|
| 340 |
-
"tree_dyymaq_2"
|
| 341 |
-
]
|
| 342 |
-
],
|
| 343 |
-
"manipulating_object_id": [
|
| 344 |
-
[
|
| 345 |
-
"easter_egg_180",
|
| 346 |
-
"easter_egg_181"
|
| 347 |
-
],
|
| 348 |
-
[
|
| 349 |
-
"easter_egg_180",
|
| 350 |
-
"easter_egg_181"
|
| 351 |
-
]
|
| 352 |
-
],
|
| 353 |
-
"spatial_prefix": [
|
| 354 |
-
[],
|
| 355 |
-
[
|
| 356 |
-
[],
|
| 357 |
-
[],
|
| 358 |
-
[
|
| 359 |
-
"in_front_of",
|
| 360 |
-
"in_front_of"
|
| 361 |
-
]
|
| 362 |
-
]
|
| 363 |
-
],
|
| 364 |
-
"frame_duration": [
|
| 365 |
-
981,
|
| 366 |
-
3294
|
| 367 |
-
],
|
| 368 |
-
"skill_idxes": [
|
| 369 |
-
1,
|
| 370 |
-
2,
|
| 371 |
-
3,
|
| 372 |
-
4,
|
| 373 |
-
5
|
| 374 |
-
]
|
| 375 |
},
|
| 376 |
{
|
| 377 |
"primitive_idx": 2,
|
| 378 |
-
"primitive_id": [
|
| 379 |
-
|
| 380 |
-
|
| 381 |
-
],
|
| 382 |
-
"
|
| 383 |
-
|
| 384 |
-
|
| 385 |
-
]
|
| 386 |
-
"object_id": [
|
| 387 |
-
[
|
| 388 |
-
"easter_egg_179",
|
| 389 |
-
"wicker_basket_178"
|
| 390 |
-
],
|
| 391 |
-
[
|
| 392 |
-
"easter_egg_179",
|
| 393 |
-
"lawn_aztwla_0",
|
| 394 |
-
"tree_dyymaq_2"
|
| 395 |
-
]
|
| 396 |
-
],
|
| 397 |
-
"manipulating_object_id": [
|
| 398 |
-
"easter_egg_179",
|
| 399 |
-
"easter_egg_179"
|
| 400 |
-
],
|
| 401 |
-
"spatial_prefix": [
|
| 402 |
-
[],
|
| 403 |
-
[
|
| 404 |
-
[],
|
| 405 |
-
[],
|
| 406 |
-
[
|
| 407 |
-
"in_front_of"
|
| 408 |
-
]
|
| 409 |
-
]
|
| 410 |
-
],
|
| 411 |
-
"frame_duration": [
|
| 412 |
-
3294,
|
| 413 |
-
6012
|
| 414 |
-
],
|
| 415 |
-
"skill_idxes": [
|
| 416 |
-
6,
|
| 417 |
-
7,
|
| 418 |
-
8,
|
| 419 |
-
9
|
| 420 |
-
]
|
| 421 |
}
|
| 422 |
]
|
| 423 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6012,
|
| 6 |
+
"valid_duration": [0, 6012]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 981],
|
|
|
|
|
|
|
|
|
|
| 18 |
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 20 |
},
|
| 21 |
{
|
| 22 |
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 26 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [981, 1488],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 38 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 39 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1488, 2475],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 50 |
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2475, 2871],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [91],
|
| 60 |
+
"skill_description": ["place on next to"],
|
| 61 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 65 |
+
"frame_duration": [2871, 3264],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3264, 3294],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3294, 3660],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3660, 4440],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4440, 5060],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [91],
|
| 120 |
+
"skill_description": ["place on next to"],
|
| 121 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 125 |
+
"frame_duration": [5060, 6012],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
}
|
| 129 |
],
|
| 130 |
"primitive_annotation": [
|
| 131 |
{
|
| 132 |
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [1],
|
| 134 |
+
"primitive_description": ["move to"],
|
| 135 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 981],
|
| 140 |
+
"skill_idxes": [0]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 141 |
},
|
| 142 |
{
|
| 143 |
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 91],
|
| 145 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 146 |
+
"object_id": [[["easter_egg_180", "easter_egg_181"], "wicker_basket_178"], [["easter_egg_180", "easter_egg_181"], "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 147 |
+
"manipulating_object_id": [["easter_egg_180", "easter_egg_181"], ["easter_egg_180", "easter_egg_181"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 150 |
+
"frame_duration": [981, 3294],
|
| 151 |
+
"skill_idxes": [1, 2, 3, 4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 91],
|
| 156 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 157 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 158 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 161 |
+
"frame_duration": [3294, 6012],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 163 |
}
|
| 164 |
]
|
| 165 |
}
|
annotations/task-0006/episode_00061110.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7988,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
7988
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1650
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1650,
|
| 56 |
-
2317
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_5"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2317,
|
| 80 |
-
2513
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2514,
|
| 107 |
-
2710
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2710,
|
| 134 |
-
3480
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_5"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3480,
|
| 168 |
-
4176
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
4176,
|
| 192 |
-
4530
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
4530,
|
| 219 |
-
5362
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_5"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
5362,
|
| 253 |
-
6005
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
6005,
|
| 277 |
-
6501
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_180",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_180"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
6501,
|
| 304 |
-
7260
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_180",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_5"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_180"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
7260,
|
| 338 |
-
7988
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_rrhqpw_5"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
2710
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_181",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_181",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_rrhqpw_5"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_181",
|
| 412 |
-
"easter_egg_181"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
2710,
|
| 426 |
-
4176
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_179",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_179",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_rrhqpw_5"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_179",
|
| 456 |
-
"easter_egg_179"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
4176,
|
| 470 |
-
6005
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_180",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_180",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_rrhqpw_5"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_180",
|
| 501 |
-
"easter_egg_180"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
6005,
|
| 515 |
-
7988
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7988,
|
| 6 |
+
"valid_duration": [0, 7988]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1650],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1650, 2317],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_5"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2317, 2513],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2514, 2710],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2710, 3480],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3480, 4176],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4176, 4530],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4530, 5362],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [5362, 6005],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [6005, 6501],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6501, 7260],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [7260, 7988],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_5"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2710],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2710, 4176],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [4176, 6005],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [6005, 7988],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061160.json
CHANGED
|
@@ -3,471 +3,175 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10983,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
10983
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
5142
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
5142,
|
| 56 |
-
5679
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
5679,
|
| 80 |
-
5976
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
5976,
|
| 107 |
-
6210
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
6210,
|
| 134 |
-
6594
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"wicker_basket_178"
|
| 153 |
-
]
|
| 154 |
-
],
|
| 155 |
-
"manipulating_object_id": [
|
| 156 |
-
"easter_egg_179"
|
| 157 |
-
],
|
| 158 |
"spatial_prefix": [],
|
| 159 |
-
"frame_duration": [
|
| 160 |
-
6594,
|
| 161 |
-
7911
|
| 162 |
-
],
|
| 163 |
"mp_ef": [],
|
| 164 |
-
"skill_type": [
|
| 165 |
-
"uncoordinated"
|
| 166 |
-
]
|
| 167 |
},
|
| 168 |
{
|
| 169 |
"skill_idx": 6,
|
| 170 |
-
"skill_id": [
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"
|
| 174 |
-
|
| 175 |
-
],
|
| 176 |
-
"
|
| 177 |
-
[
|
| 178 |
-
"easter_egg_180",
|
| 179 |
-
"lawn_aztwla_0",
|
| 180 |
-
"tree_dyymaq_0"
|
| 181 |
-
]
|
| 182 |
-
],
|
| 183 |
-
"manipulating_object_id": [
|
| 184 |
-
"easter_egg_180"
|
| 185 |
-
],
|
| 186 |
-
"spatial_prefix": [
|
| 187 |
-
[
|
| 188 |
-
"",
|
| 189 |
-
"",
|
| 190 |
-
"in_front_of"
|
| 191 |
-
]
|
| 192 |
-
],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
7911,
|
| 195 |
-
8454
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_179",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_0"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_179"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
7911,
|
| 229 |
-
8454
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"skill_description": [
|
| 242 |
-
"move to"
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"wicker_basket_178"
|
| 247 |
-
]
|
| 248 |
-
],
|
| 249 |
"manipulating_object_id": [],
|
|
|
|
| 250 |
"spatial_prefix": [],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
8454,
|
| 253 |
-
8838
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"navigation"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"easter_egg_181",
|
| 271 |
-
"wicker_basket_178"
|
| 272 |
-
]
|
| 273 |
-
],
|
| 274 |
-
"manipulating_object_id": [
|
| 275 |
-
"easter_egg_181"
|
| 276 |
-
],
|
| 277 |
"spatial_prefix": [],
|
| 278 |
-
"frame_duration": [
|
| 279 |
-
8838,
|
| 280 |
-
9693
|
| 281 |
-
],
|
| 282 |
"mp_ef": [],
|
| 283 |
-
"skill_type": [
|
| 284 |
-
"uncoordinated"
|
| 285 |
-
]
|
| 286 |
},
|
| 287 |
{
|
| 288 |
"skill_idx": 10,
|
| 289 |
-
"skill_id": [
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
[
|
| 297 |
-
"easter_egg_181",
|
| 298 |
-
"lawn_aztwla_0",
|
| 299 |
-
"tree_dyymaq_0"
|
| 300 |
-
]
|
| 301 |
-
],
|
| 302 |
-
"manipulating_object_id": [
|
| 303 |
-
"easter_egg_181"
|
| 304 |
-
],
|
| 305 |
-
"spatial_prefix": [
|
| 306 |
-
[
|
| 307 |
-
"",
|
| 308 |
-
"",
|
| 309 |
-
"in_front_of"
|
| 310 |
-
]
|
| 311 |
-
],
|
| 312 |
-
"frame_duration": [
|
| 313 |
-
9693,
|
| 314 |
-
10983
|
| 315 |
-
],
|
| 316 |
"mp_ef": [],
|
| 317 |
-
"skill_type": [
|
| 318 |
-
"uncoordinated"
|
| 319 |
-
]
|
| 320 |
}
|
| 321 |
],
|
| 322 |
"primitive_annotation": [
|
| 323 |
{
|
| 324 |
"primitive_idx": 0,
|
| 325 |
-
"primitive_id": [
|
| 326 |
-
|
| 327 |
-
|
| 328 |
-
|
| 329 |
-
],
|
| 330 |
-
"primitive_description": [
|
| 331 |
-
"move to",
|
| 332 |
-
"pick up from",
|
| 333 |
-
"place on"
|
| 334 |
-
],
|
| 335 |
-
"object_id": [
|
| 336 |
-
[
|
| 337 |
-
[
|
| 338 |
-
"wicker_basket_178",
|
| 339 |
-
"tree_dyymaq_0"
|
| 340 |
-
]
|
| 341 |
-
],
|
| 342 |
-
[
|
| 343 |
-
"wicker_basket_178",
|
| 344 |
-
"lawn_aztwla_0"
|
| 345 |
-
],
|
| 346 |
-
[
|
| 347 |
-
"wicker_basket_178",
|
| 348 |
-
"lawn_aztwla_0"
|
| 349 |
-
]
|
| 350 |
-
],
|
| 351 |
-
"manipulating_object_id": [
|
| 352 |
-
[],
|
| 353 |
-
"wicker_basket_178",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
"spatial_prefix": [],
|
| 357 |
-
"frame_duration": [
|
| 358 |
-
|
| 359 |
-
6210
|
| 360 |
-
],
|
| 361 |
-
"skill_idxes": [
|
| 362 |
-
0,
|
| 363 |
-
1,
|
| 364 |
-
2,
|
| 365 |
-
3
|
| 366 |
-
]
|
| 367 |
},
|
| 368 |
{
|
| 369 |
"primitive_idx": 1,
|
| 370 |
-
"primitive_id": [
|
| 371 |
-
|
| 372 |
-
|
| 373 |
-
],
|
| 374 |
-
"
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
]
|
| 378 |
-
"object_id": [
|
| 379 |
-
[
|
| 380 |
-
[
|
| 381 |
-
"easter_egg_180",
|
| 382 |
-
"easter_egg_179"
|
| 383 |
-
],
|
| 384 |
-
"wicker_basket_178"
|
| 385 |
-
],
|
| 386 |
-
[
|
| 387 |
-
[
|
| 388 |
-
"easter_egg_180",
|
| 389 |
-
"easter_egg_179"
|
| 390 |
-
],
|
| 391 |
-
"lawn_aztwla_0",
|
| 392 |
-
"tree_dyymaq_0"
|
| 393 |
-
]
|
| 394 |
-
],
|
| 395 |
-
"manipulating_object_id": [
|
| 396 |
-
[
|
| 397 |
-
"easter_egg_180",
|
| 398 |
-
"easter_egg_179"
|
| 399 |
-
],
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_180",
|
| 402 |
-
"easter_egg_179"
|
| 403 |
-
]
|
| 404 |
-
],
|
| 405 |
-
"spatial_prefix": [
|
| 406 |
-
[],
|
| 407 |
-
[
|
| 408 |
-
[],
|
| 409 |
-
[],
|
| 410 |
-
[
|
| 411 |
-
"in_front_of",
|
| 412 |
-
"in_front_of"
|
| 413 |
-
]
|
| 414 |
-
]
|
| 415 |
-
],
|
| 416 |
-
"frame_duration": [
|
| 417 |
-
6210,
|
| 418 |
-
8454
|
| 419 |
-
],
|
| 420 |
-
"skill_idxes": [
|
| 421 |
-
4,
|
| 422 |
-
5,
|
| 423 |
-
6,
|
| 424 |
-
7
|
| 425 |
-
]
|
| 426 |
},
|
| 427 |
{
|
| 428 |
"primitive_idx": 2,
|
| 429 |
-
"primitive_id": [
|
| 430 |
-
|
| 431 |
-
|
| 432 |
-
],
|
| 433 |
-
"
|
| 434 |
-
|
| 435 |
-
|
| 436 |
-
]
|
| 437 |
-
"object_id": [
|
| 438 |
-
[
|
| 439 |
-
"easter_egg_181",
|
| 440 |
-
"wicker_basket_178"
|
| 441 |
-
],
|
| 442 |
-
[
|
| 443 |
-
"easter_egg_181",
|
| 444 |
-
"lawn_aztwla_0",
|
| 445 |
-
"tree_dyymaq_0"
|
| 446 |
-
]
|
| 447 |
-
],
|
| 448 |
-
"manipulating_object_id": [
|
| 449 |
-
"easter_egg_181",
|
| 450 |
-
"easter_egg_181"
|
| 451 |
-
],
|
| 452 |
-
"spatial_prefix": [
|
| 453 |
-
[],
|
| 454 |
-
[
|
| 455 |
-
[],
|
| 456 |
-
[],
|
| 457 |
-
[
|
| 458 |
-
"in_front_of"
|
| 459 |
-
]
|
| 460 |
-
]
|
| 461 |
-
],
|
| 462 |
-
"frame_duration": [
|
| 463 |
-
8454,
|
| 464 |
-
10983
|
| 465 |
-
],
|
| 466 |
-
"skill_idxes": [
|
| 467 |
-
8,
|
| 468 |
-
9,
|
| 469 |
-
10
|
| 470 |
-
]
|
| 471 |
}
|
| 472 |
]
|
| 473 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10983,
|
| 6 |
+
"valid_duration": [0, 10983]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 5142],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [5142, 5679],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [5679, 5976],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5976, 6210],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6210, 6594],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [2],
|
| 72 |
+
"skill_description": ["pick up from"],
|
| 73 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6594, 7911],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [91],
|
| 84 |
+
"skill_description": ["place on next to"],
|
| 85 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 89 |
+
"frame_duration": [7911, 8454],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [7911, 8454],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8454, 8838],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8838, 9693],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [91],
|
| 132 |
+
"skill_description": ["place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 137 |
+
"frame_duration": [9693, 10983],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
}
|
| 141 |
],
|
| 142 |
"primitive_annotation": [
|
| 143 |
{
|
| 144 |
"primitive_idx": 0,
|
| 145 |
+
"primitive_id": [1, 2, 3],
|
| 146 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 147 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_0"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 148 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 149 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"spatial_prefix": [],
|
| 151 |
+
"frame_duration": [0, 6210],
|
| 152 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 153 |
},
|
| 154 |
{
|
| 155 |
"primitive_idx": 1,
|
| 156 |
+
"primitive_id": [2, 91],
|
| 157 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 158 |
+
"object_id": [[["easter_egg_180", "easter_egg_179"], "wicker_basket_178"], [["easter_egg_180", "easter_egg_179"], "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 159 |
+
"manipulating_object_id": [["easter_egg_180", "easter_egg_179"], ["easter_egg_180", "easter_egg_179"]],
|
| 160 |
+
"memory_prefix": [],
|
| 161 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 162 |
+
"frame_duration": [6210, 8454],
|
| 163 |
+
"skill_idxes": [4, 5, 6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"primitive_idx": 2,
|
| 167 |
+
"primitive_id": [2, 91],
|
| 168 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 171 |
+
"memory_prefix": ["the other", ""],
|
| 172 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 173 |
+
"frame_duration": [8454, 10983],
|
| 174 |
+
"skill_idxes": [8, 9, 10]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 175 |
}
|
| 176 |
]
|
| 177 |
}
|
annotations/task-0006/episode_00061190.json
CHANGED
|
@@ -3,471 +3,175 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6879,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6879
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
859
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
913,
|
| 56 |
-
1323
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1323,
|
| 80 |
-
1876
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1876,
|
| 107 |
-
2308
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2308,
|
| 134 |
-
2876
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"wicker_basket_178"
|
| 153 |
-
]
|
| 154 |
-
],
|
| 155 |
-
"manipulating_object_id": [
|
| 156 |
-
"easter_egg_180"
|
| 157 |
-
],
|
| 158 |
"spatial_prefix": [],
|
| 159 |
-
"frame_duration": [
|
| 160 |
-
2876,
|
| 161 |
-
3785
|
| 162 |
-
],
|
| 163 |
"mp_ef": [],
|
| 164 |
-
"skill_type": [
|
| 165 |
-
"uncoordinated"
|
| 166 |
-
]
|
| 167 |
},
|
| 168 |
{
|
| 169 |
"skill_idx": 6,
|
| 170 |
-
"skill_id": [
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"
|
| 174 |
-
|
| 175 |
-
],
|
| 176 |
-
"
|
| 177 |
-
[
|
| 178 |
-
"easter_egg_179",
|
| 179 |
-
"lawn_aztwla_0",
|
| 180 |
-
"tree_dyymaq_2"
|
| 181 |
-
]
|
| 182 |
-
],
|
| 183 |
-
"manipulating_object_id": [
|
| 184 |
-
"easter_egg_179"
|
| 185 |
-
],
|
| 186 |
-
"spatial_prefix": [
|
| 187 |
-
[
|
| 188 |
-
"",
|
| 189 |
-
"",
|
| 190 |
-
"in_front_of"
|
| 191 |
-
]
|
| 192 |
-
],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
3785,
|
| 195 |
-
4362
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_180",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_2"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_180"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
3785,
|
| 229 |
-
4362
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"skill_description": [
|
| 242 |
-
"move to"
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"wicker_basket_178"
|
| 247 |
-
]
|
| 248 |
-
],
|
| 249 |
"manipulating_object_id": [],
|
|
|
|
| 250 |
"spatial_prefix": [],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
4362,
|
| 253 |
-
5078
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"navigation"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"easter_egg_181",
|
| 271 |
-
"wicker_basket_178"
|
| 272 |
-
]
|
| 273 |
-
],
|
| 274 |
-
"manipulating_object_id": [
|
| 275 |
-
"easter_egg_181"
|
| 276 |
-
],
|
| 277 |
"spatial_prefix": [],
|
| 278 |
-
"frame_duration": [
|
| 279 |
-
5078,
|
| 280 |
-
5705
|
| 281 |
-
],
|
| 282 |
"mp_ef": [],
|
| 283 |
-
"skill_type": [
|
| 284 |
-
"uncoordinated"
|
| 285 |
-
]
|
| 286 |
},
|
| 287 |
{
|
| 288 |
"skill_idx": 10,
|
| 289 |
-
"skill_id": [
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
[
|
| 297 |
-
"easter_egg_181",
|
| 298 |
-
"lawn_aztwla_0",
|
| 299 |
-
"tree_dyymaq_2"
|
| 300 |
-
]
|
| 301 |
-
],
|
| 302 |
-
"manipulating_object_id": [
|
| 303 |
-
"easter_egg_181"
|
| 304 |
-
],
|
| 305 |
-
"spatial_prefix": [
|
| 306 |
-
[
|
| 307 |
-
"",
|
| 308 |
-
"",
|
| 309 |
-
"in_front_of"
|
| 310 |
-
]
|
| 311 |
-
],
|
| 312 |
-
"frame_duration": [
|
| 313 |
-
5705,
|
| 314 |
-
6879
|
| 315 |
-
],
|
| 316 |
"mp_ef": [],
|
| 317 |
-
"skill_type": [
|
| 318 |
-
"uncoordinated"
|
| 319 |
-
]
|
| 320 |
}
|
| 321 |
],
|
| 322 |
"primitive_annotation": [
|
| 323 |
{
|
| 324 |
"primitive_idx": 0,
|
| 325 |
-
"primitive_id": [
|
| 326 |
-
|
| 327 |
-
|
| 328 |
-
|
| 329 |
-
],
|
| 330 |
-
"primitive_description": [
|
| 331 |
-
"move to",
|
| 332 |
-
"pick up from",
|
| 333 |
-
"place on"
|
| 334 |
-
],
|
| 335 |
-
"object_id": [
|
| 336 |
-
[
|
| 337 |
-
[
|
| 338 |
-
"wicker_basket_178",
|
| 339 |
-
"tree_dyymaq_2"
|
| 340 |
-
]
|
| 341 |
-
],
|
| 342 |
-
[
|
| 343 |
-
"wicker_basket_178",
|
| 344 |
-
"lawn_aztwla_0"
|
| 345 |
-
],
|
| 346 |
-
[
|
| 347 |
-
"wicker_basket_178",
|
| 348 |
-
"lawn_aztwla_0"
|
| 349 |
-
]
|
| 350 |
-
],
|
| 351 |
-
"manipulating_object_id": [
|
| 352 |
-
[],
|
| 353 |
-
"wicker_basket_178",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
"spatial_prefix": [],
|
| 357 |
-
"frame_duration": [
|
| 358 |
-
|
| 359 |
-
2308
|
| 360 |
-
],
|
| 361 |
-
"skill_idxes": [
|
| 362 |
-
0,
|
| 363 |
-
1,
|
| 364 |
-
2,
|
| 365 |
-
3
|
| 366 |
-
]
|
| 367 |
},
|
| 368 |
{
|
| 369 |
"primitive_idx": 1,
|
| 370 |
-
"primitive_id": [
|
| 371 |
-
|
| 372 |
-
|
| 373 |
-
],
|
| 374 |
-
"
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
]
|
| 378 |
-
"object_id": [
|
| 379 |
-
[
|
| 380 |
-
[
|
| 381 |
-
"easter_egg_179",
|
| 382 |
-
"easter_egg_180"
|
| 383 |
-
],
|
| 384 |
-
"wicker_basket_178"
|
| 385 |
-
],
|
| 386 |
-
[
|
| 387 |
-
[
|
| 388 |
-
"easter_egg_179",
|
| 389 |
-
"easter_egg_180"
|
| 390 |
-
],
|
| 391 |
-
"lawn_aztwla_0",
|
| 392 |
-
"tree_dyymaq_2"
|
| 393 |
-
]
|
| 394 |
-
],
|
| 395 |
-
"manipulating_object_id": [
|
| 396 |
-
[
|
| 397 |
-
"easter_egg_179",
|
| 398 |
-
"easter_egg_180"
|
| 399 |
-
],
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_179",
|
| 402 |
-
"easter_egg_180"
|
| 403 |
-
]
|
| 404 |
-
],
|
| 405 |
-
"spatial_prefix": [
|
| 406 |
-
[],
|
| 407 |
-
[
|
| 408 |
-
[],
|
| 409 |
-
[],
|
| 410 |
-
[
|
| 411 |
-
"in_front_of",
|
| 412 |
-
"in_front_of"
|
| 413 |
-
]
|
| 414 |
-
]
|
| 415 |
-
],
|
| 416 |
-
"frame_duration": [
|
| 417 |
-
2308,
|
| 418 |
-
4362
|
| 419 |
-
],
|
| 420 |
-
"skill_idxes": [
|
| 421 |
-
4,
|
| 422 |
-
5,
|
| 423 |
-
6,
|
| 424 |
-
7
|
| 425 |
-
]
|
| 426 |
},
|
| 427 |
{
|
| 428 |
"primitive_idx": 2,
|
| 429 |
-
"primitive_id": [
|
| 430 |
-
|
| 431 |
-
|
| 432 |
-
],
|
| 433 |
-
"
|
| 434 |
-
|
| 435 |
-
|
| 436 |
-
]
|
| 437 |
-
"object_id": [
|
| 438 |
-
[
|
| 439 |
-
"easter_egg_181",
|
| 440 |
-
"wicker_basket_178"
|
| 441 |
-
],
|
| 442 |
-
[
|
| 443 |
-
"easter_egg_181",
|
| 444 |
-
"lawn_aztwla_0",
|
| 445 |
-
"tree_dyymaq_2"
|
| 446 |
-
]
|
| 447 |
-
],
|
| 448 |
-
"manipulating_object_id": [
|
| 449 |
-
"easter_egg_181",
|
| 450 |
-
"easter_egg_181"
|
| 451 |
-
],
|
| 452 |
-
"spatial_prefix": [
|
| 453 |
-
[],
|
| 454 |
-
[
|
| 455 |
-
[],
|
| 456 |
-
[],
|
| 457 |
-
[
|
| 458 |
-
"in_front_of"
|
| 459 |
-
]
|
| 460 |
-
]
|
| 461 |
-
],
|
| 462 |
-
"frame_duration": [
|
| 463 |
-
4362,
|
| 464 |
-
6879
|
| 465 |
-
],
|
| 466 |
-
"skill_idxes": [
|
| 467 |
-
8,
|
| 468 |
-
9,
|
| 469 |
-
10
|
| 470 |
-
]
|
| 471 |
}
|
| 472 |
]
|
| 473 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6879,
|
| 6 |
+
"valid_duration": [0, 6879]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 859],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [913, 1323],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1323, 1876],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1876, 2308],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2308, 2876],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [2],
|
| 72 |
+
"skill_description": ["pick up from"],
|
| 73 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2876, 3785],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [91],
|
| 84 |
+
"skill_description": ["place on next to"],
|
| 85 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 89 |
+
"frame_duration": [3785, 4362],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [3785, 4362],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4362, 5078],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5078, 5705],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [91],
|
| 132 |
+
"skill_description": ["place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 137 |
+
"frame_duration": [5705, 6879],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
}
|
| 141 |
],
|
| 142 |
"primitive_annotation": [
|
| 143 |
{
|
| 144 |
"primitive_idx": 0,
|
| 145 |
+
"primitive_id": [1, 2, 3],
|
| 146 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 147 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 148 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 149 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"spatial_prefix": [],
|
| 151 |
+
"frame_duration": [0, 2308],
|
| 152 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 153 |
},
|
| 154 |
{
|
| 155 |
"primitive_idx": 1,
|
| 156 |
+
"primitive_id": [2, 91],
|
| 157 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 158 |
+
"object_id": [[["easter_egg_179", "easter_egg_180"], "wicker_basket_178"], [["easter_egg_179", "easter_egg_180"], "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 159 |
+
"manipulating_object_id": [["easter_egg_179", "easter_egg_180"], ["easter_egg_179", "easter_egg_180"]],
|
| 160 |
+
"memory_prefix": [],
|
| 161 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 162 |
+
"frame_duration": [2308, 4362],
|
| 163 |
+
"skill_idxes": [4, 5, 6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"primitive_idx": 2,
|
| 167 |
+
"primitive_id": [2, 91],
|
| 168 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 171 |
+
"memory_prefix": ["the other", ""],
|
| 172 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 173 |
+
"frame_duration": [4362, 6879],
|
| 174 |
+
"skill_idxes": [8, 9, 10]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 175 |
}
|
| 176 |
]
|
| 177 |
}
|
annotations/task-0006/episode_00061280.json
CHANGED
|
@@ -3,406 +3,152 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8915,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
8915
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
4247
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"easter_egg_180",
|
| 47 |
-
"wicker_basket_178"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"easter_egg_180"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
4247,
|
| 56 |
-
4764
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"
|
| 69 |
-
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"easter_egg_181",
|
| 74 |
-
"wicker_basket_178"
|
| 75 |
-
]
|
| 76 |
-
],
|
| 77 |
-
"manipulating_object_id": [
|
| 78 |
-
"easter_egg_181"
|
| 79 |
-
],
|
| 80 |
"spatial_prefix": [],
|
| 81 |
-
"frame_duration": [
|
| 82 |
-
4764,
|
| 83 |
-
5758
|
| 84 |
-
],
|
| 85 |
"mp_ef": [],
|
| 86 |
-
"skill_type": [
|
| 87 |
-
"uncoordinated"
|
| 88 |
-
]
|
| 89 |
},
|
| 90 |
{
|
| 91 |
"skill_idx": 3,
|
| 92 |
-
"skill_id": [
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"skill_description": [
|
| 96 |
-
"move to"
|
| 97 |
-
],
|
| 98 |
-
"object_id": [
|
| 99 |
-
[
|
| 100 |
-
"tree_dyymaq_1"
|
| 101 |
-
]
|
| 102 |
-
],
|
| 103 |
"manipulating_object_id": [],
|
|
|
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
5758,
|
| 107 |
-
6171
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"navigation"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"lawn_aztwla_0",
|
| 126 |
-
"tree_dyymaq_1"
|
| 127 |
-
]
|
| 128 |
-
],
|
| 129 |
-
"manipulating_object_id": [
|
| 130 |
-
"easter_egg_180"
|
| 131 |
-
],
|
| 132 |
-
"spatial_prefix": [
|
| 133 |
-
[
|
| 134 |
-
"",
|
| 135 |
-
"",
|
| 136 |
-
"in_front_of"
|
| 137 |
-
]
|
| 138 |
-
],
|
| 139 |
-
"frame_duration": [
|
| 140 |
-
6171,
|
| 141 |
-
6588
|
| 142 |
-
],
|
| 143 |
"mp_ef": [],
|
| 144 |
-
"skill_type": [
|
| 145 |
-
"uncoordinated"
|
| 146 |
-
]
|
| 147 |
},
|
| 148 |
{
|
| 149 |
"skill_idx": 5,
|
| 150 |
-
"skill_id": [
|
| 151 |
-
|
| 152 |
-
],
|
| 153 |
-
"
|
| 154 |
-
|
| 155 |
-
],
|
| 156 |
-
"
|
| 157 |
-
[
|
| 158 |
-
"easter_egg_181",
|
| 159 |
-
"lawn_aztwla_0",
|
| 160 |
-
"tree_dyymaq_1"
|
| 161 |
-
]
|
| 162 |
-
],
|
| 163 |
-
"manipulating_object_id": [
|
| 164 |
-
"easter_egg_181"
|
| 165 |
-
],
|
| 166 |
-
"spatial_prefix": [
|
| 167 |
-
[
|
| 168 |
-
"",
|
| 169 |
-
"",
|
| 170 |
-
"in_front_of"
|
| 171 |
-
]
|
| 172 |
-
],
|
| 173 |
-
"frame_duration": [
|
| 174 |
-
6171,
|
| 175 |
-
6588
|
| 176 |
-
],
|
| 177 |
"mp_ef": [],
|
| 178 |
-
"skill_type": [
|
| 179 |
-
"uncoordinated"
|
| 180 |
-
]
|
| 181 |
},
|
| 182 |
{
|
| 183 |
"skill_idx": 6,
|
| 184 |
-
"skill_id": [
|
| 185 |
-
|
| 186 |
-
],
|
| 187 |
-
"skill_description": [
|
| 188 |
-
"move to"
|
| 189 |
-
],
|
| 190 |
-
"object_id": [
|
| 191 |
-
[
|
| 192 |
-
"wicker_basket_178"
|
| 193 |
-
]
|
| 194 |
-
],
|
| 195 |
"manipulating_object_id": [],
|
|
|
|
| 196 |
"spatial_prefix": [],
|
| 197 |
-
"frame_duration": [
|
| 198 |
-
6588,
|
| 199 |
-
6986
|
| 200 |
-
],
|
| 201 |
"mp_ef": [],
|
| 202 |
-
"skill_type": [
|
| 203 |
-
"navigation"
|
| 204 |
-
]
|
| 205 |
},
|
| 206 |
{
|
| 207 |
"skill_idx": 7,
|
| 208 |
-
"skill_id": [
|
| 209 |
-
|
| 210 |
-
],
|
| 211 |
-
"
|
| 212 |
-
|
| 213 |
-
],
|
| 214 |
-
"object_id": [
|
| 215 |
-
[
|
| 216 |
-
"easter_egg_179",
|
| 217 |
-
"wicker_basket_178"
|
| 218 |
-
]
|
| 219 |
-
],
|
| 220 |
-
"manipulating_object_id": [
|
| 221 |
-
"easter_egg_179"
|
| 222 |
-
],
|
| 223 |
"spatial_prefix": [],
|
| 224 |
-
"frame_duration": [
|
| 225 |
-
6986,
|
| 226 |
-
7656
|
| 227 |
-
],
|
| 228 |
"mp_ef": [],
|
| 229 |
-
"skill_type": [
|
| 230 |
-
"uncoordinated"
|
| 231 |
-
]
|
| 232 |
},
|
| 233 |
{
|
| 234 |
"skill_idx": 8,
|
| 235 |
-
"skill_id": [
|
| 236 |
-
|
| 237 |
-
],
|
| 238 |
-
"skill_description": [
|
| 239 |
-
"move to"
|
| 240 |
-
],
|
| 241 |
-
"object_id": [
|
| 242 |
-
[
|
| 243 |
-
"tree_dyymaq_1"
|
| 244 |
-
]
|
| 245 |
-
],
|
| 246 |
"manipulating_object_id": [],
|
|
|
|
| 247 |
"spatial_prefix": [],
|
| 248 |
-
"frame_duration": [
|
| 249 |
-
7656,
|
| 250 |
-
7995
|
| 251 |
-
],
|
| 252 |
"mp_ef": [],
|
| 253 |
-
"skill_type": [
|
| 254 |
-
"navigation"
|
| 255 |
-
]
|
| 256 |
},
|
| 257 |
{
|
| 258 |
"skill_idx": 9,
|
| 259 |
-
"skill_id": [
|
| 260 |
-
|
| 261 |
-
],
|
| 262 |
-
"
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
[
|
| 267 |
-
"easter_egg_179",
|
| 268 |
-
"lawn_aztwla_0",
|
| 269 |
-
"tree_dyymaq_1"
|
| 270 |
-
]
|
| 271 |
-
],
|
| 272 |
-
"manipulating_object_id": [
|
| 273 |
-
"easter_egg_179"
|
| 274 |
-
],
|
| 275 |
-
"spatial_prefix": [
|
| 276 |
-
[
|
| 277 |
-
"",
|
| 278 |
-
"",
|
| 279 |
-
"in_front_of"
|
| 280 |
-
]
|
| 281 |
-
],
|
| 282 |
-
"frame_duration": [
|
| 283 |
-
7995,
|
| 284 |
-
8915
|
| 285 |
-
],
|
| 286 |
"mp_ef": [],
|
| 287 |
-
"skill_type": [
|
| 288 |
-
"uncoordinated"
|
| 289 |
-
]
|
| 290 |
}
|
| 291 |
],
|
| 292 |
"primitive_annotation": [
|
| 293 |
{
|
| 294 |
"primitive_idx": 0,
|
| 295 |
-
"primitive_id": [
|
| 296 |
-
|
| 297 |
-
|
| 298 |
-
|
| 299 |
-
],
|
| 300 |
-
"
|
| 301 |
-
|
| 302 |
-
|
| 303 |
-
"place on next to"
|
| 304 |
-
],
|
| 305 |
-
"object_id": [
|
| 306 |
-
[
|
| 307 |
-
[
|
| 308 |
-
"easter_egg_180",
|
| 309 |
-
"easter_egg_181"
|
| 310 |
-
],
|
| 311 |
-
"wicker_basket_178"
|
| 312 |
-
],
|
| 313 |
-
[
|
| 314 |
-
"tree_dyymaq_1"
|
| 315 |
-
],
|
| 316 |
-
[
|
| 317 |
-
[
|
| 318 |
-
"easter_egg_180",
|
| 319 |
-
"easter_egg_181"
|
| 320 |
-
],
|
| 321 |
-
"lawn_aztwla_0",
|
| 322 |
-
"tree_dyymaq_1"
|
| 323 |
-
]
|
| 324 |
-
],
|
| 325 |
-
"manipulating_object_id": [
|
| 326 |
-
[
|
| 327 |
-
"easter_egg_180",
|
| 328 |
-
"easter_egg_181"
|
| 329 |
-
],
|
| 330 |
-
[],
|
| 331 |
-
[
|
| 332 |
-
"easter_egg_180",
|
| 333 |
-
"easter_egg_181"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"spatial_prefix": [
|
| 337 |
-
[],
|
| 338 |
-
[],
|
| 339 |
-
[
|
| 340 |
-
[],
|
| 341 |
-
[],
|
| 342 |
-
[
|
| 343 |
-
"in_front_of",
|
| 344 |
-
"in_front_of"
|
| 345 |
-
]
|
| 346 |
-
]
|
| 347 |
-
],
|
| 348 |
-
"frame_duration": [
|
| 349 |
-
0,
|
| 350 |
-
6588
|
| 351 |
-
],
|
| 352 |
-
"skill_idxes": [
|
| 353 |
-
0,
|
| 354 |
-
1,
|
| 355 |
-
2,
|
| 356 |
-
3,
|
| 357 |
-
4,
|
| 358 |
-
5
|
| 359 |
-
]
|
| 360 |
},
|
| 361 |
{
|
| 362 |
"primitive_idx": 1,
|
| 363 |
-
"primitive_id": [
|
| 364 |
-
|
| 365 |
-
|
| 366 |
-
],
|
| 367 |
-
"
|
| 368 |
-
|
| 369 |
-
|
| 370 |
-
]
|
| 371 |
-
"object_id": [
|
| 372 |
-
[
|
| 373 |
-
"easter_egg_179",
|
| 374 |
-
"wicker_basket_178"
|
| 375 |
-
],
|
| 376 |
-
[
|
| 377 |
-
"easter_egg_179",
|
| 378 |
-
"lawn_aztwla_0",
|
| 379 |
-
"tree_dyymaq_1"
|
| 380 |
-
]
|
| 381 |
-
],
|
| 382 |
-
"manipulating_object_id": [
|
| 383 |
-
"easter_egg_179",
|
| 384 |
-
"easter_egg_179"
|
| 385 |
-
],
|
| 386 |
-
"spatial_prefix": [
|
| 387 |
-
[],
|
| 388 |
-
[
|
| 389 |
-
[],
|
| 390 |
-
[],
|
| 391 |
-
[
|
| 392 |
-
"in_front_of"
|
| 393 |
-
]
|
| 394 |
-
]
|
| 395 |
-
],
|
| 396 |
-
"frame_duration": [
|
| 397 |
-
6588,
|
| 398 |
-
8915
|
| 399 |
-
],
|
| 400 |
-
"skill_idxes": [
|
| 401 |
-
6,
|
| 402 |
-
7,
|
| 403 |
-
8,
|
| 404 |
-
9
|
| 405 |
-
]
|
| 406 |
}
|
| 407 |
]
|
| 408 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8915,
|
| 6 |
+
"valid_duration": [0, 8915]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 4247],
|
|
|
|
|
|
|
|
|
|
| 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": [["easter_egg_180", "wicker_basket_178"]],
|
| 26 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [4247, 4764],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 38 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 39 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [4764, 5758],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 50 |
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5758, 6171],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [91],
|
| 60 |
+
"skill_description": ["place on next to"],
|
| 61 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 65 |
+
"frame_duration": [6171, 6588],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [6171, 6588],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6588, 6986],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6986, 7656],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7656, 7995],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [91],
|
| 120 |
+
"skill_description": ["place on next to"],
|
| 121 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 125 |
+
"frame_duration": [7995, 8915],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
}
|
| 129 |
],
|
| 130 |
"primitive_annotation": [
|
| 131 |
{
|
| 132 |
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [2, 1, 91],
|
| 134 |
+
"primitive_description": ["pick up from", "move to", "place on next to"],
|
| 135 |
+
"object_id": [[["easter_egg_180", "easter_egg_181"], "wicker_basket_178"], ["tree_dyymaq_1"], [["easter_egg_180", "easter_egg_181"], "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 136 |
+
"manipulating_object_id": [["easter_egg_180", "easter_egg_181"], [], ["easter_egg_180", "easter_egg_181"]],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [[], [], [[], [], ["in_front_of", "in_front_of"]]],
|
| 139 |
+
"frame_duration": [0, 6588],
|
| 140 |
+
"skill_idxes": [0, 1, 2, 3, 4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 141 |
},
|
| 142 |
{
|
| 143 |
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 91],
|
| 145 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 146 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 147 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 148 |
+
"memory_prefix": ["the other", ""],
|
| 149 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 150 |
+
"frame_duration": [6588, 8915],
|
| 151 |
+
"skill_idxes": [6, 7, 8, 9]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
]
|
| 154 |
}
|
annotations/task-0006/episode_00061320.json
CHANGED
|
@@ -3,400 +3,150 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10847,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
10847
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
5321
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"easter_egg_180",
|
| 47 |
-
"wicker_basket_178"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"easter_egg_180"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
5321,
|
| 56 |
-
6836
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"
|
| 69 |
-
|
| 70 |
-
],
|
| 71 |
-
"
|
| 72 |
-
[
|
| 73 |
-
"easter_egg_180",
|
| 74 |
-
"lawn_aztwla_0",
|
| 75 |
-
"tree_rrhqpw_0"
|
| 76 |
-
]
|
| 77 |
-
],
|
| 78 |
-
"manipulating_object_id": [
|
| 79 |
-
"easter_egg_180"
|
| 80 |
-
],
|
| 81 |
-
"spatial_prefix": [
|
| 82 |
-
[
|
| 83 |
-
"",
|
| 84 |
-
"",
|
| 85 |
-
"in_front_of"
|
| 86 |
-
]
|
| 87 |
-
],
|
| 88 |
-
"frame_duration": [
|
| 89 |
-
6836,
|
| 90 |
-
7390
|
| 91 |
-
],
|
| 92 |
"mp_ef": [],
|
| 93 |
-
"skill_type": [
|
| 94 |
-
"uncoordinated"
|
| 95 |
-
]
|
| 96 |
},
|
| 97 |
{
|
| 98 |
"skill_idx": 3,
|
| 99 |
-
"skill_id": [
|
| 100 |
-
|
| 101 |
-
],
|
| 102 |
-
"skill_description": [
|
| 103 |
-
"move to"
|
| 104 |
-
],
|
| 105 |
-
"object_id": [
|
| 106 |
-
[
|
| 107 |
-
"wicker_basket_178"
|
| 108 |
-
]
|
| 109 |
-
],
|
| 110 |
"manipulating_object_id": [],
|
|
|
|
| 111 |
"spatial_prefix": [],
|
| 112 |
-
"frame_duration": [
|
| 113 |
-
7390,
|
| 114 |
-
7766
|
| 115 |
-
],
|
| 116 |
"mp_ef": [],
|
| 117 |
-
"skill_type": [
|
| 118 |
-
"navigation"
|
| 119 |
-
]
|
| 120 |
},
|
| 121 |
{
|
| 122 |
"skill_idx": 4,
|
| 123 |
-
"skill_id": [
|
| 124 |
-
|
| 125 |
-
],
|
| 126 |
-
"
|
| 127 |
-
|
| 128 |
-
],
|
| 129 |
-
"object_id": [
|
| 130 |
-
[
|
| 131 |
-
"easter_egg_179",
|
| 132 |
-
"wicker_basket_178"
|
| 133 |
-
]
|
| 134 |
-
],
|
| 135 |
-
"manipulating_object_id": [
|
| 136 |
-
"easter_egg_179"
|
| 137 |
-
],
|
| 138 |
"spatial_prefix": [],
|
| 139 |
-
"frame_duration": [
|
| 140 |
-
7766,
|
| 141 |
-
8461
|
| 142 |
-
],
|
| 143 |
"mp_ef": [],
|
| 144 |
-
"skill_type": [
|
| 145 |
-
"uncoordinated"
|
| 146 |
-
]
|
| 147 |
},
|
| 148 |
{
|
| 149 |
"skill_idx": 5,
|
| 150 |
-
"skill_id": [
|
| 151 |
-
|
| 152 |
-
],
|
| 153 |
-
"
|
| 154 |
-
|
| 155 |
-
],
|
| 156 |
-
"
|
| 157 |
-
[
|
| 158 |
-
"easter_egg_179",
|
| 159 |
-
"lawn_aztwla_0",
|
| 160 |
-
"tree_rrhqpw_0"
|
| 161 |
-
]
|
| 162 |
-
],
|
| 163 |
-
"manipulating_object_id": [
|
| 164 |
-
"easter_egg_179"
|
| 165 |
-
],
|
| 166 |
-
"spatial_prefix": [
|
| 167 |
-
[
|
| 168 |
-
"",
|
| 169 |
-
"",
|
| 170 |
-
"in_front_of"
|
| 171 |
-
]
|
| 172 |
-
],
|
| 173 |
-
"frame_duration": [
|
| 174 |
-
8461,
|
| 175 |
-
9092
|
| 176 |
-
],
|
| 177 |
"mp_ef": [],
|
| 178 |
-
"skill_type": [
|
| 179 |
-
"uncoordinated"
|
| 180 |
-
]
|
| 181 |
},
|
| 182 |
{
|
| 183 |
"skill_idx": 6,
|
| 184 |
-
"skill_id": [
|
| 185 |
-
|
| 186 |
-
],
|
| 187 |
-
"
|
| 188 |
-
|
| 189 |
-
],
|
| 190 |
-
"object_id": [
|
| 191 |
-
[
|
| 192 |
-
"easter_egg_181",
|
| 193 |
-
"wicker_basket_178"
|
| 194 |
-
]
|
| 195 |
-
],
|
| 196 |
-
"manipulating_object_id": [
|
| 197 |
-
"easter_egg_181"
|
| 198 |
-
],
|
| 199 |
"spatial_prefix": [],
|
| 200 |
-
"frame_duration": [
|
| 201 |
-
9092,
|
| 202 |
-
9777
|
| 203 |
-
],
|
| 204 |
"mp_ef": [],
|
| 205 |
-
"skill_type": [
|
| 206 |
-
"uncoordinated"
|
| 207 |
-
]
|
| 208 |
},
|
| 209 |
{
|
| 210 |
"skill_idx": 7,
|
| 211 |
-
"skill_id": [
|
| 212 |
-
|
| 213 |
-
],
|
| 214 |
-
"
|
| 215 |
-
|
| 216 |
-
],
|
| 217 |
-
"
|
| 218 |
-
[
|
| 219 |
-
"easter_egg_181",
|
| 220 |
-
"lawn_aztwla_0",
|
| 221 |
-
"tree_rrhqpw_0"
|
| 222 |
-
]
|
| 223 |
-
],
|
| 224 |
-
"manipulating_object_id": [
|
| 225 |
-
"easter_egg_181"
|
| 226 |
-
],
|
| 227 |
-
"spatial_prefix": [
|
| 228 |
-
[
|
| 229 |
-
"",
|
| 230 |
-
"",
|
| 231 |
-
"in_front_of"
|
| 232 |
-
]
|
| 233 |
-
],
|
| 234 |
-
"frame_duration": [
|
| 235 |
-
9777,
|
| 236 |
-
10847
|
| 237 |
-
],
|
| 238 |
"mp_ef": [],
|
| 239 |
-
"skill_type": [
|
| 240 |
-
"uncoordinated"
|
| 241 |
-
]
|
| 242 |
}
|
| 243 |
],
|
| 244 |
"primitive_annotation": [
|
| 245 |
{
|
| 246 |
"primitive_idx": 0,
|
| 247 |
-
"primitive_id": [
|
| 248 |
-
|
| 249 |
-
],
|
| 250 |
-
"primitive_description": [
|
| 251 |
-
"move to"
|
| 252 |
-
],
|
| 253 |
-
"object_id": [
|
| 254 |
-
[
|
| 255 |
-
"wicker_basket_178"
|
| 256 |
-
]
|
| 257 |
-
],
|
| 258 |
"manipulating_object_id": [],
|
|
|
|
| 259 |
"spatial_prefix": [],
|
| 260 |
-
"frame_duration": [
|
| 261 |
-
|
| 262 |
-
5321
|
| 263 |
-
],
|
| 264 |
-
"skill_idxes": [
|
| 265 |
-
0
|
| 266 |
-
]
|
| 267 |
},
|
| 268 |
{
|
| 269 |
"primitive_idx": 1,
|
| 270 |
-
"primitive_id": [
|
| 271 |
-
|
| 272 |
-
|
| 273 |
-
],
|
| 274 |
-
"
|
| 275 |
-
|
| 276 |
-
|
| 277 |
-
]
|
| 278 |
-
"object_id": [
|
| 279 |
-
[
|
| 280 |
-
"easter_egg_180",
|
| 281 |
-
"wicker_basket_178"
|
| 282 |
-
],
|
| 283 |
-
[
|
| 284 |
-
"easter_egg_180",
|
| 285 |
-
"lawn_aztwla_0",
|
| 286 |
-
"tree_rrhqpw_0"
|
| 287 |
-
]
|
| 288 |
-
],
|
| 289 |
-
"manipulating_object_id": [
|
| 290 |
-
"easter_egg_180",
|
| 291 |
-
"easter_egg_180"
|
| 292 |
-
],
|
| 293 |
-
"spatial_prefix": [
|
| 294 |
-
[],
|
| 295 |
-
[
|
| 296 |
-
[],
|
| 297 |
-
[],
|
| 298 |
-
[
|
| 299 |
-
"in_front_of"
|
| 300 |
-
]
|
| 301 |
-
]
|
| 302 |
-
],
|
| 303 |
-
"frame_duration": [
|
| 304 |
-
5321,
|
| 305 |
-
7390
|
| 306 |
-
],
|
| 307 |
-
"skill_idxes": [
|
| 308 |
-
1,
|
| 309 |
-
2
|
| 310 |
-
]
|
| 311 |
},
|
| 312 |
{
|
| 313 |
"primitive_idx": 2,
|
| 314 |
-
"primitive_id": [
|
| 315 |
-
|
| 316 |
-
|
| 317 |
-
],
|
| 318 |
-
"
|
| 319 |
-
|
| 320 |
-
|
| 321 |
-
]
|
| 322 |
-
"object_id": [
|
| 323 |
-
[
|
| 324 |
-
"easter_egg_179",
|
| 325 |
-
"wicker_basket_178"
|
| 326 |
-
],
|
| 327 |
-
[
|
| 328 |
-
"easter_egg_179",
|
| 329 |
-
"lawn_aztwla_0",
|
| 330 |
-
"tree_rrhqpw_0"
|
| 331 |
-
]
|
| 332 |
-
],
|
| 333 |
-
"manipulating_object_id": [
|
| 334 |
-
"easter_egg_179",
|
| 335 |
-
"easter_egg_179"
|
| 336 |
-
],
|
| 337 |
-
"spatial_prefix": [
|
| 338 |
-
[],
|
| 339 |
-
[
|
| 340 |
-
[],
|
| 341 |
-
[],
|
| 342 |
-
[
|
| 343 |
-
"in_front_of"
|
| 344 |
-
]
|
| 345 |
-
]
|
| 346 |
-
],
|
| 347 |
-
"frame_duration": [
|
| 348 |
-
7390,
|
| 349 |
-
9092
|
| 350 |
-
],
|
| 351 |
-
"skill_idxes": [
|
| 352 |
-
3,
|
| 353 |
-
4,
|
| 354 |
-
5
|
| 355 |
-
]
|
| 356 |
},
|
| 357 |
{
|
| 358 |
"primitive_idx": 3,
|
| 359 |
-
"primitive_id": [
|
| 360 |
-
|
| 361 |
-
|
| 362 |
-
],
|
| 363 |
-
"
|
| 364 |
-
|
| 365 |
-
|
| 366 |
-
]
|
| 367 |
-
"object_id": [
|
| 368 |
-
[
|
| 369 |
-
"easter_egg_181",
|
| 370 |
-
"wicker_basket_178"
|
| 371 |
-
],
|
| 372 |
-
[
|
| 373 |
-
"easter_egg_181",
|
| 374 |
-
"lawn_aztwla_0",
|
| 375 |
-
"tree_rrhqpw_0"
|
| 376 |
-
]
|
| 377 |
-
],
|
| 378 |
-
"manipulating_object_id": [
|
| 379 |
-
"easter_egg_181",
|
| 380 |
-
"easter_egg_181"
|
| 381 |
-
],
|
| 382 |
-
"spatial_prefix": [
|
| 383 |
-
[],
|
| 384 |
-
[
|
| 385 |
-
[],
|
| 386 |
-
[],
|
| 387 |
-
[
|
| 388 |
-
"in_front_of"
|
| 389 |
-
]
|
| 390 |
-
]
|
| 391 |
-
],
|
| 392 |
-
"frame_duration": [
|
| 393 |
-
9092,
|
| 394 |
-
10847
|
| 395 |
-
],
|
| 396 |
-
"skill_idxes": [
|
| 397 |
-
6,
|
| 398 |
-
7
|
| 399 |
-
]
|
| 400 |
}
|
| 401 |
]
|
| 402 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10847,
|
| 6 |
+
"valid_duration": [0, 10847]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 5321],
|
|
|
|
|
|
|
|
|
|
| 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": [["easter_egg_180", "wicker_basket_178"]],
|
| 26 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [5321, 6836],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [91],
|
| 36 |
+
"skill_description": ["place on next to"],
|
| 37 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 38 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 41 |
+
"frame_duration": [6836, 7390],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 50 |
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [7390, 7766],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [7766, 8461],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [8461, 9092],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [9092, 9777],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [9777, 10847],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
}
|
| 105 |
],
|
| 106 |
"primitive_annotation": [
|
| 107 |
{
|
| 108 |
"primitive_idx": 0,
|
| 109 |
+
"primitive_id": [1],
|
| 110 |
+
"primitive_description": ["move to"],
|
| 111 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 112 |
"manipulating_object_id": [],
|
| 113 |
+
"memory_prefix": [],
|
| 114 |
"spatial_prefix": [],
|
| 115 |
+
"frame_duration": [0, 5321],
|
| 116 |
+
"skill_idxes": [0]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 117 |
},
|
| 118 |
{
|
| 119 |
"primitive_idx": 1,
|
| 120 |
+
"primitive_id": [2, 91],
|
| 121 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 122 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 123 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 124 |
+
"memory_prefix": [],
|
| 125 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 126 |
+
"frame_duration": [5321, 7390],
|
| 127 |
+
"skill_idxes": [1, 2]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"primitive_idx": 2,
|
| 131 |
+
"primitive_id": [2, 91],
|
| 132 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other", ""],
|
| 136 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 137 |
+
"frame_duration": [7390, 9092],
|
| 138 |
+
"skill_idxes": [3, 4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 139 |
},
|
| 140 |
{
|
| 141 |
"primitive_idx": 3,
|
| 142 |
+
"primitive_id": [2, 91],
|
| 143 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 144 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 145 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 146 |
+
"memory_prefix": ["the other", ""],
|
| 147 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 148 |
+
"frame_duration": [9092, 10847],
|
| 149 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
}
|
| 151 |
]
|
| 152 |
}
|
annotations/task-0006/episode_00061370.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4880,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
4880
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1053
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1053,
|
| 56 |
-
1290
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_flkzbo_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1290,
|
| 80 |
-
1437
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1437,
|
| 107 |
-
1563
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1563,
|
| 134 |
-
2094
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_flkzbo_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_181"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2094,
|
| 168 |
-
2496
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
2496,
|
| 192 |
-
2518
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
2518,
|
| 219 |
-
2921
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_flkzbo_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
2921,
|
| 253 |
-
3454
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
3454,
|
| 277 |
-
3622
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
3622,
|
| 304 |
-
4239
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_flkzbo_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
4239,
|
| 338 |
-
4880
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_flkzbo_2"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
1563
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_181",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_181",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_flkzbo_2"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_181",
|
| 415 |
-
"easter_egg_181"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
1563,
|
| 429 |
-
2496
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_180",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_180",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_flkzbo_2"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_180",
|
| 459 |
-
"easter_egg_180"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
2496,
|
| 473 |
-
3454
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_179",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_179",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_flkzbo_2"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_179",
|
| 504 |
-
"easter_egg_179"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
3454,
|
| 518 |
-
4880
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4880,
|
| 6 |
+
"valid_duration": [0, 4880]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1053],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1053, 1290],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_flkzbo_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1290, 1437],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1437, 1563],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1563, 2094],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_flkzbo_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2094, 2496],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2496, 2518],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [2518, 2921],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_flkzbo_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [2921, 3454],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3454, 3622],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [3622, 4239],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_flkzbo_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [4239, 4880],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_flkzbo_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1563],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_flkzbo_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [1563, 2496],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_flkzbo_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [2496, 3454],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_flkzbo_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [3454, 4880],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061460.json
CHANGED
|
@@ -3,496 +3,187 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 11225,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
11225
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
6298
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
6298,
|
| 56 |
-
6858
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
6858,
|
| 80 |
-
7109
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
7109,
|
| 107 |
-
7356
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_181",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_181"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
7356,
|
| 134 |
-
7949
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"wicker_basket_178"
|
| 153 |
-
]
|
| 154 |
-
],
|
| 155 |
-
"manipulating_object_id": [
|
| 156 |
-
"easter_egg_179"
|
| 157 |
-
],
|
| 158 |
"spatial_prefix": [],
|
| 159 |
-
"frame_duration": [
|
| 160 |
-
7949,
|
| 161 |
-
8664
|
| 162 |
-
],
|
| 163 |
"mp_ef": [],
|
| 164 |
-
"skill_type": [
|
| 165 |
-
"uncoordinated"
|
| 166 |
-
]
|
| 167 |
},
|
| 168 |
{
|
| 169 |
"skill_idx": 6,
|
| 170 |
-
"skill_id": [
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"skill_description": [
|
| 174 |
-
"move to"
|
| 175 |
-
],
|
| 176 |
-
"object_id": [
|
| 177 |
-
[
|
| 178 |
-
"tree_dyymaq_1"
|
| 179 |
-
]
|
| 180 |
-
],
|
| 181 |
"manipulating_object_id": [],
|
|
|
|
| 182 |
"spatial_prefix": [],
|
| 183 |
-
"frame_duration": [
|
| 184 |
-
8664,
|
| 185 |
-
9012
|
| 186 |
-
],
|
| 187 |
"mp_ef": [],
|
| 188 |
-
"skill_type": [
|
| 189 |
-
"navigation"
|
| 190 |
-
]
|
| 191 |
},
|
| 192 |
{
|
| 193 |
"skill_idx": 7,
|
| 194 |
-
"skill_id": [
|
| 195 |
-
|
| 196 |
-
],
|
| 197 |
-
"
|
| 198 |
-
|
| 199 |
-
],
|
| 200 |
-
"
|
| 201 |
-
[
|
| 202 |
-
"easter_egg_181",
|
| 203 |
-
"lawn_aztwla_0",
|
| 204 |
-
"tree_dyymaq_1"
|
| 205 |
-
]
|
| 206 |
-
],
|
| 207 |
-
"manipulating_object_id": [
|
| 208 |
-
"easter_egg_181"
|
| 209 |
-
],
|
| 210 |
-
"spatial_prefix": [
|
| 211 |
-
[
|
| 212 |
-
"",
|
| 213 |
-
"",
|
| 214 |
-
"in_front_of"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
9012,
|
| 219 |
-
9432
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_1"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
9012,
|
| 253 |
-
9432
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
9432,
|
| 277 |
-
9834
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_180",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_180"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
9834,
|
| 304 |
-
10281
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_180",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_1"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_180"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
10281,
|
| 338 |
-
11225
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_1"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
7356
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_181",
|
| 406 |
-
"easter_egg_179"
|
| 407 |
-
],
|
| 408 |
-
"wicker_basket_178"
|
| 409 |
-
],
|
| 410 |
-
[
|
| 411 |
-
[
|
| 412 |
-
"easter_egg_181",
|
| 413 |
-
"easter_egg_179"
|
| 414 |
-
],
|
| 415 |
-
"lawn_aztwla_0",
|
| 416 |
-
"tree_dyymaq_1"
|
| 417 |
-
]
|
| 418 |
-
],
|
| 419 |
-
"manipulating_object_id": [
|
| 420 |
-
[
|
| 421 |
-
"easter_egg_181",
|
| 422 |
-
"easter_egg_179"
|
| 423 |
-
],
|
| 424 |
-
[
|
| 425 |
-
"easter_egg_181",
|
| 426 |
-
"easter_egg_179"
|
| 427 |
-
]
|
| 428 |
-
],
|
| 429 |
-
"spatial_prefix": [
|
| 430 |
-
[],
|
| 431 |
-
[
|
| 432 |
-
[],
|
| 433 |
-
[],
|
| 434 |
-
[
|
| 435 |
-
"in_front_of",
|
| 436 |
-
"in_front_of"
|
| 437 |
-
]
|
| 438 |
-
]
|
| 439 |
-
],
|
| 440 |
-
"frame_duration": [
|
| 441 |
-
7356,
|
| 442 |
-
9432
|
| 443 |
-
],
|
| 444 |
-
"skill_idxes": [
|
| 445 |
-
4,
|
| 446 |
-
5,
|
| 447 |
-
6,
|
| 448 |
-
7,
|
| 449 |
-
8
|
| 450 |
-
]
|
| 451 |
},
|
| 452 |
{
|
| 453 |
"primitive_idx": 2,
|
| 454 |
-
"primitive_id": [
|
| 455 |
-
|
| 456 |
-
|
| 457 |
-
],
|
| 458 |
-
"
|
| 459 |
-
|
| 460 |
-
|
| 461 |
-
]
|
| 462 |
-
"object_id": [
|
| 463 |
-
[
|
| 464 |
-
"easter_egg_180",
|
| 465 |
-
"wicker_basket_178"
|
| 466 |
-
],
|
| 467 |
-
[
|
| 468 |
-
"easter_egg_180",
|
| 469 |
-
"lawn_aztwla_0",
|
| 470 |
-
"tree_dyymaq_1"
|
| 471 |
-
]
|
| 472 |
-
],
|
| 473 |
-
"manipulating_object_id": [
|
| 474 |
-
"easter_egg_180",
|
| 475 |
-
"easter_egg_180"
|
| 476 |
-
],
|
| 477 |
-
"spatial_prefix": [
|
| 478 |
-
[],
|
| 479 |
-
[
|
| 480 |
-
[],
|
| 481 |
-
[],
|
| 482 |
-
[
|
| 483 |
-
"in_front_of"
|
| 484 |
-
]
|
| 485 |
-
]
|
| 486 |
-
],
|
| 487 |
-
"frame_duration": [
|
| 488 |
-
9432,
|
| 489 |
-
11225
|
| 490 |
-
],
|
| 491 |
-
"skill_idxes": [
|
| 492 |
-
9,
|
| 493 |
-
10,
|
| 494 |
-
11
|
| 495 |
-
]
|
| 496 |
}
|
| 497 |
]
|
| 498 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 11225,
|
| 6 |
+
"valid_duration": [0, 11225]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 6298],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [6298, 6858],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [6858, 7109],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [7109, 7356],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [7356, 7949],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [2],
|
| 72 |
+
"skill_description": ["pick up from"],
|
| 73 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7949, 8664],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8664, 9012],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [9012, 9432],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [9012, 9432],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9432, 9834],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [9834, 10281],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [10281, 11225],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_1"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 7356],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [[["easter_egg_181", "easter_egg_179"], "wicker_basket_178"], [["easter_egg_181", "easter_egg_179"], "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 171 |
+
"manipulating_object_id": [["easter_egg_181", "easter_egg_179"], ["easter_egg_181", "easter_egg_179"]],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 174 |
+
"frame_duration": [7356, 9432],
|
| 175 |
+
"skill_idxes": [4, 5, 6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [9432, 11225],
|
| 186 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
}
|
| 188 |
]
|
| 189 |
}
|
annotations/task-0006/episode_00061540.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 3684,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
3684
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
390
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
390,
|
| 56 |
-
757
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
757,
|
| 80 |
-
1077
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1077,
|
| 107 |
-
1383
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1383,
|
| 134 |
-
1970
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
1970,
|
| 168 |
-
2389
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
2389,
|
| 192 |
-
2409
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
2409,
|
| 219 |
-
2819
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
2819,
|
| 253 |
-
3039
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
3039,
|
| 277 |
-
3085
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
3085,
|
| 304 |
-
3428
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
3428,
|
| 338 |
-
3684
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_rrhqpw_2"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
1383
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_180",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_180",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_rrhqpw_2"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_180",
|
| 415 |
-
"easter_egg_180"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
1383,
|
| 429 |
-
2389
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_179",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_179",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_rrhqpw_2"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_179",
|
| 459 |
-
"easter_egg_179"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
2389,
|
| 473 |
-
3039
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_181",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_181",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_rrhqpw_2"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_181",
|
| 504 |
-
"easter_egg_181"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
3039,
|
| 518 |
-
3684
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 3684,
|
| 6 |
+
"valid_duration": [0, 3684]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 390],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [390, 757],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [757, 1077],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1077, 1383],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1383, 1970],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [1970, 2389],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2389, 2409],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [2409, 2819],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [2819, 3039],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3039, 3085],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [3085, 3428],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [3428, 3684],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1383],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [1383, 2389],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [2389, 3039],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [3039, 3684],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061550.json
CHANGED
|
@@ -3,468 +3,175 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6649,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6649
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1165
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1165,
|
| 56 |
-
1802
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1802,
|
| 80 |
-
2483
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2483,
|
| 107 |
-
2644
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2644,
|
| 134 |
-
3300
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"wicker_basket_178"
|
| 153 |
-
]
|
| 154 |
-
],
|
| 155 |
-
"manipulating_object_id": [
|
| 156 |
-
"easter_egg_181"
|
| 157 |
-
],
|
| 158 |
"spatial_prefix": [],
|
| 159 |
-
"frame_duration": [
|
| 160 |
-
3300,
|
| 161 |
-
4212
|
| 162 |
-
],
|
| 163 |
"mp_ef": [],
|
| 164 |
-
"skill_type": [
|
| 165 |
-
"uncoordinated"
|
| 166 |
-
]
|
| 167 |
},
|
| 168 |
{
|
| 169 |
"skill_idx": 6,
|
| 170 |
-
"skill_id": [
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"
|
| 174 |
-
|
| 175 |
-
],
|
| 176 |
-
"
|
| 177 |
-
[
|
| 178 |
-
"easter_egg_181",
|
| 179 |
-
"lawn_aztwla_0",
|
| 180 |
-
"tree_dyymaq_1"
|
| 181 |
-
]
|
| 182 |
-
],
|
| 183 |
-
"manipulating_object_id": [
|
| 184 |
-
"easter_egg_181"
|
| 185 |
-
],
|
| 186 |
-
"spatial_prefix": [
|
| 187 |
-
[
|
| 188 |
-
"",
|
| 189 |
-
"",
|
| 190 |
-
"in_front_of"
|
| 191 |
-
]
|
| 192 |
-
],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
4212,
|
| 195 |
-
4980
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_179",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_1"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_179"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
4212,
|
| 229 |
-
4980
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"skill_description": [
|
| 242 |
-
"move to"
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"wicker_basket_178"
|
| 247 |
-
]
|
| 248 |
-
],
|
| 249 |
"manipulating_object_id": [],
|
|
|
|
| 250 |
"spatial_prefix": [],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
4980,
|
| 253 |
-
5275
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"navigation"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"easter_egg_180",
|
| 271 |
-
"wicker_basket_178"
|
| 272 |
-
]
|
| 273 |
-
],
|
| 274 |
-
"manipulating_object_id": [
|
| 275 |
-
"easter_egg_180"
|
| 276 |
-
],
|
| 277 |
"spatial_prefix": [],
|
| 278 |
-
"frame_duration": [
|
| 279 |
-
5275,
|
| 280 |
-
6135
|
| 281 |
-
],
|
| 282 |
"mp_ef": [],
|
| 283 |
-
"skill_type": [
|
| 284 |
-
"uncoordinated"
|
| 285 |
-
]
|
| 286 |
},
|
| 287 |
{
|
| 288 |
"skill_idx": 10,
|
| 289 |
-
"skill_id": [
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
[
|
| 297 |
-
"easter_egg_180",
|
| 298 |
-
"lawn_aztwla_0",
|
| 299 |
-
"tree_dyymaq_1"
|
| 300 |
-
]
|
| 301 |
-
],
|
| 302 |
-
"manipulating_object_id": [
|
| 303 |
-
"easter_egg_180"
|
| 304 |
-
],
|
| 305 |
-
"spatial_prefix": [
|
| 306 |
-
[
|
| 307 |
-
"",
|
| 308 |
-
"",
|
| 309 |
-
"in_front_of"
|
| 310 |
-
]
|
| 311 |
-
],
|
| 312 |
-
"frame_duration": [
|
| 313 |
-
6135,
|
| 314 |
-
6649
|
| 315 |
-
],
|
| 316 |
"mp_ef": [],
|
| 317 |
-
"skill_type": [
|
| 318 |
-
"uncoordinated"
|
| 319 |
-
]
|
| 320 |
}
|
| 321 |
],
|
| 322 |
"primitive_annotation": [
|
| 323 |
{
|
| 324 |
"primitive_idx": 0,
|
| 325 |
-
"primitive_id": [
|
| 326 |
-
|
| 327 |
-
|
| 328 |
-
|
| 329 |
-
],
|
| 330 |
-
"primitive_description": [
|
| 331 |
-
"pick up from",
|
| 332 |
-
"move to",
|
| 333 |
-
"place on"
|
| 334 |
-
],
|
| 335 |
-
"object_id": [
|
| 336 |
-
[
|
| 337 |
-
"wicker_basket_178",
|
| 338 |
-
"lawn_aztwla_0"
|
| 339 |
-
],
|
| 340 |
-
[
|
| 341 |
-
"tree_dyymaq_1"
|
| 342 |
-
],
|
| 343 |
-
[
|
| 344 |
-
"wicker_basket_178",
|
| 345 |
-
"lawn_aztwla_0"
|
| 346 |
-
]
|
| 347 |
-
],
|
| 348 |
-
"manipulating_object_id": [
|
| 349 |
-
"wicker_basket_178",
|
| 350 |
-
[],
|
| 351 |
-
"wicker_basket_178"
|
| 352 |
-
],
|
| 353 |
"spatial_prefix": [],
|
| 354 |
-
"frame_duration": [
|
| 355 |
-
|
| 356 |
-
2644
|
| 357 |
-
],
|
| 358 |
-
"skill_idxes": [
|
| 359 |
-
0,
|
| 360 |
-
1,
|
| 361 |
-
2,
|
| 362 |
-
3
|
| 363 |
-
]
|
| 364 |
},
|
| 365 |
{
|
| 366 |
"primitive_idx": 1,
|
| 367 |
-
"primitive_id": [
|
| 368 |
-
|
| 369 |
-
|
| 370 |
-
],
|
| 371 |
-
"
|
| 372 |
-
|
| 373 |
-
|
| 374 |
-
]
|
| 375 |
-
"object_id": [
|
| 376 |
-
[
|
| 377 |
-
[
|
| 378 |
-
"easter_egg_179",
|
| 379 |
-
"easter_egg_181"
|
| 380 |
-
],
|
| 381 |
-
"wicker_basket_178"
|
| 382 |
-
],
|
| 383 |
-
[
|
| 384 |
-
[
|
| 385 |
-
"easter_egg_181",
|
| 386 |
-
"easter_egg_179"
|
| 387 |
-
],
|
| 388 |
-
"lawn_aztwla_0",
|
| 389 |
-
"tree_dyymaq_1"
|
| 390 |
-
]
|
| 391 |
-
],
|
| 392 |
-
"manipulating_object_id": [
|
| 393 |
-
[
|
| 394 |
-
"easter_egg_179",
|
| 395 |
-
"easter_egg_181"
|
| 396 |
-
],
|
| 397 |
-
[
|
| 398 |
-
"easter_egg_181",
|
| 399 |
-
"easter_egg_179"
|
| 400 |
-
]
|
| 401 |
-
],
|
| 402 |
-
"spatial_prefix": [
|
| 403 |
-
[],
|
| 404 |
-
[
|
| 405 |
-
[],
|
| 406 |
-
[],
|
| 407 |
-
[
|
| 408 |
-
"in_front_of",
|
| 409 |
-
"in_front_of"
|
| 410 |
-
]
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"frame_duration": [
|
| 414 |
-
2644,
|
| 415 |
-
4980
|
| 416 |
-
],
|
| 417 |
-
"skill_idxes": [
|
| 418 |
-
4,
|
| 419 |
-
5,
|
| 420 |
-
6,
|
| 421 |
-
7
|
| 422 |
-
]
|
| 423 |
},
|
| 424 |
{
|
| 425 |
"primitive_idx": 2,
|
| 426 |
-
"primitive_id": [
|
| 427 |
-
|
| 428 |
-
|
| 429 |
-
],
|
| 430 |
-
"
|
| 431 |
-
|
| 432 |
-
|
| 433 |
-
]
|
| 434 |
-
"object_id": [
|
| 435 |
-
[
|
| 436 |
-
"easter_egg_180",
|
| 437 |
-
"wicker_basket_178"
|
| 438 |
-
],
|
| 439 |
-
[
|
| 440 |
-
"easter_egg_180",
|
| 441 |
-
"lawn_aztwla_0",
|
| 442 |
-
"tree_dyymaq_1"
|
| 443 |
-
]
|
| 444 |
-
],
|
| 445 |
-
"manipulating_object_id": [
|
| 446 |
-
"easter_egg_180",
|
| 447 |
-
"easter_egg_180"
|
| 448 |
-
],
|
| 449 |
-
"spatial_prefix": [
|
| 450 |
-
[],
|
| 451 |
-
[
|
| 452 |
-
[],
|
| 453 |
-
[],
|
| 454 |
-
[
|
| 455 |
-
"in_front_of"
|
| 456 |
-
]
|
| 457 |
-
]
|
| 458 |
-
],
|
| 459 |
-
"frame_duration": [
|
| 460 |
-
4980,
|
| 461 |
-
6649
|
| 462 |
-
],
|
| 463 |
-
"skill_idxes": [
|
| 464 |
-
8,
|
| 465 |
-
9,
|
| 466 |
-
10
|
| 467 |
-
]
|
| 468 |
}
|
| 469 |
]
|
| 470 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6649,
|
| 6 |
+
"valid_duration": [0, 6649]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1165],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1165, 1802],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1802, 2483],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2483, 2644],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2644, 3300],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [2],
|
| 72 |
+
"skill_description": ["pick up from"],
|
| 73 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3300, 4212],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [91],
|
| 84 |
+
"skill_description": ["place on next to"],
|
| 85 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 89 |
+
"frame_duration": [4212, 4980],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [4212, 4980],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4980, 5275],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5275, 6135],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [91],
|
| 132 |
+
"skill_description": ["place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 137 |
+
"frame_duration": [6135, 6649],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
}
|
| 141 |
],
|
| 142 |
"primitive_annotation": [
|
| 143 |
{
|
| 144 |
"primitive_idx": 0,
|
| 145 |
+
"primitive_id": [2, 1, 3],
|
| 146 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 147 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_1"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 148 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 149 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"spatial_prefix": [],
|
| 151 |
+
"frame_duration": [0, 2644],
|
| 152 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 153 |
},
|
| 154 |
{
|
| 155 |
"primitive_idx": 1,
|
| 156 |
+
"primitive_id": [2, 91],
|
| 157 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 158 |
+
"object_id": [[["easter_egg_179", "easter_egg_181"], "wicker_basket_178"], [["easter_egg_181", "easter_egg_179"], "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 159 |
+
"manipulating_object_id": [["easter_egg_179", "easter_egg_181"], ["easter_egg_181", "easter_egg_179"]],
|
| 160 |
+
"memory_prefix": [],
|
| 161 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 162 |
+
"frame_duration": [2644, 4980],
|
| 163 |
+
"skill_idxes": [4, 5, 6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"primitive_idx": 2,
|
| 167 |
+
"primitive_id": [2, 91],
|
| 168 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 171 |
+
"memory_prefix": ["the other", ""],
|
| 172 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 173 |
+
"frame_duration": [4980, 6649],
|
| 174 |
+
"skill_idxes": [8, 9, 10]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 175 |
}
|
| 176 |
]
|
| 177 |
}
|
annotations/task-0006/episode_00061590.json
CHANGED
|
@@ -3,471 +3,175 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5082,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
5082
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
531
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
531,
|
| 56 |
-
862
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
862,
|
| 80 |
-
1092
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1092,
|
| 107 |
-
1249
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1249,
|
| 134 |
-
1894
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"wicker_basket_178"
|
| 153 |
-
]
|
| 154 |
-
],
|
| 155 |
-
"manipulating_object_id": [
|
| 156 |
-
"easter_egg_179"
|
| 157 |
-
],
|
| 158 |
"spatial_prefix": [],
|
| 159 |
-
"frame_duration": [
|
| 160 |
-
1894,
|
| 161 |
-
2606
|
| 162 |
-
],
|
| 163 |
"mp_ef": [],
|
| 164 |
-
"skill_type": [
|
| 165 |
-
"uncoordinated"
|
| 166 |
-
]
|
| 167 |
},
|
| 168 |
{
|
| 169 |
"skill_idx": 6,
|
| 170 |
-
"skill_id": [
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"
|
| 174 |
-
|
| 175 |
-
],
|
| 176 |
-
"
|
| 177 |
-
[
|
| 178 |
-
"easter_egg_179",
|
| 179 |
-
"lawn_aztwla_0",
|
| 180 |
-
"tree_dyymaq_0"
|
| 181 |
-
]
|
| 182 |
-
],
|
| 183 |
-
"manipulating_object_id": [
|
| 184 |
-
"easter_egg_179"
|
| 185 |
-
],
|
| 186 |
-
"spatial_prefix": [
|
| 187 |
-
[
|
| 188 |
-
"",
|
| 189 |
-
"",
|
| 190 |
-
"in_front_of"
|
| 191 |
-
]
|
| 192 |
-
],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
2606,
|
| 195 |
-
3193
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_180",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_0"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_180"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
3193,
|
| 229 |
-
3214
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"skill_description": [
|
| 242 |
-
"move to"
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"wicker_basket_178"
|
| 247 |
-
]
|
| 248 |
-
],
|
| 249 |
"manipulating_object_id": [],
|
|
|
|
| 250 |
"spatial_prefix": [],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3214,
|
| 253 |
-
3607
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"navigation"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"easter_egg_181",
|
| 271 |
-
"wicker_basket_178"
|
| 272 |
-
]
|
| 273 |
-
],
|
| 274 |
-
"manipulating_object_id": [
|
| 275 |
-
"easter_egg_181"
|
| 276 |
-
],
|
| 277 |
"spatial_prefix": [],
|
| 278 |
-
"frame_duration": [
|
| 279 |
-
3607,
|
| 280 |
-
4200
|
| 281 |
-
],
|
| 282 |
"mp_ef": [],
|
| 283 |
-
"skill_type": [
|
| 284 |
-
"uncoordinated"
|
| 285 |
-
]
|
| 286 |
},
|
| 287 |
{
|
| 288 |
"skill_idx": 10,
|
| 289 |
-
"skill_id": [
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
[
|
| 297 |
-
"easter_egg_181",
|
| 298 |
-
"lawn_aztwla_0",
|
| 299 |
-
"tree_dyymaq_0"
|
| 300 |
-
]
|
| 301 |
-
],
|
| 302 |
-
"manipulating_object_id": [
|
| 303 |
-
"easter_egg_181"
|
| 304 |
-
],
|
| 305 |
-
"spatial_prefix": [
|
| 306 |
-
[
|
| 307 |
-
"",
|
| 308 |
-
"",
|
| 309 |
-
"in_front_of"
|
| 310 |
-
]
|
| 311 |
-
],
|
| 312 |
-
"frame_duration": [
|
| 313 |
-
4200,
|
| 314 |
-
5082
|
| 315 |
-
],
|
| 316 |
"mp_ef": [],
|
| 317 |
-
"skill_type": [
|
| 318 |
-
"uncoordinated"
|
| 319 |
-
]
|
| 320 |
}
|
| 321 |
],
|
| 322 |
"primitive_annotation": [
|
| 323 |
{
|
| 324 |
"primitive_idx": 0,
|
| 325 |
-
"primitive_id": [
|
| 326 |
-
|
| 327 |
-
|
| 328 |
-
|
| 329 |
-
],
|
| 330 |
-
"primitive_description": [
|
| 331 |
-
"move to",
|
| 332 |
-
"pick up from",
|
| 333 |
-
"place on"
|
| 334 |
-
],
|
| 335 |
-
"object_id": [
|
| 336 |
-
[
|
| 337 |
-
[
|
| 338 |
-
"wicker_basket_178",
|
| 339 |
-
"tree_dyymaq_0"
|
| 340 |
-
]
|
| 341 |
-
],
|
| 342 |
-
[
|
| 343 |
-
"wicker_basket_178",
|
| 344 |
-
"lawn_aztwla_0"
|
| 345 |
-
],
|
| 346 |
-
[
|
| 347 |
-
"wicker_basket_178",
|
| 348 |
-
"lawn_aztwla_0"
|
| 349 |
-
]
|
| 350 |
-
],
|
| 351 |
-
"manipulating_object_id": [
|
| 352 |
-
[],
|
| 353 |
-
"wicker_basket_178",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
"spatial_prefix": [],
|
| 357 |
-
"frame_duration": [
|
| 358 |
-
|
| 359 |
-
1249
|
| 360 |
-
],
|
| 361 |
-
"skill_idxes": [
|
| 362 |
-
0,
|
| 363 |
-
1,
|
| 364 |
-
2,
|
| 365 |
-
3
|
| 366 |
-
]
|
| 367 |
},
|
| 368 |
{
|
| 369 |
"primitive_idx": 1,
|
| 370 |
-
"primitive_id": [
|
| 371 |
-
|
| 372 |
-
|
| 373 |
-
],
|
| 374 |
-
"
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
]
|
| 378 |
-
"object_id": [
|
| 379 |
-
[
|
| 380 |
-
[
|
| 381 |
-
"easter_egg_180",
|
| 382 |
-
"easter_egg_179"
|
| 383 |
-
],
|
| 384 |
-
"wicker_basket_178"
|
| 385 |
-
],
|
| 386 |
-
[
|
| 387 |
-
[
|
| 388 |
-
"easter_egg_179",
|
| 389 |
-
"easter_egg_180"
|
| 390 |
-
],
|
| 391 |
-
"lawn_aztwla_0",
|
| 392 |
-
"tree_dyymaq_0"
|
| 393 |
-
]
|
| 394 |
-
],
|
| 395 |
-
"manipulating_object_id": [
|
| 396 |
-
[
|
| 397 |
-
"easter_egg_180",
|
| 398 |
-
"easter_egg_179"
|
| 399 |
-
],
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_179",
|
| 402 |
-
"easter_egg_180"
|
| 403 |
-
]
|
| 404 |
-
],
|
| 405 |
-
"spatial_prefix": [
|
| 406 |
-
[],
|
| 407 |
-
[
|
| 408 |
-
[],
|
| 409 |
-
[],
|
| 410 |
-
[
|
| 411 |
-
"in_front_of",
|
| 412 |
-
"in_front_of"
|
| 413 |
-
]
|
| 414 |
-
]
|
| 415 |
-
],
|
| 416 |
-
"frame_duration": [
|
| 417 |
-
1249,
|
| 418 |
-
3214
|
| 419 |
-
],
|
| 420 |
-
"skill_idxes": [
|
| 421 |
-
4,
|
| 422 |
-
5,
|
| 423 |
-
6,
|
| 424 |
-
7
|
| 425 |
-
]
|
| 426 |
},
|
| 427 |
{
|
| 428 |
"primitive_idx": 2,
|
| 429 |
-
"primitive_id": [
|
| 430 |
-
|
| 431 |
-
|
| 432 |
-
],
|
| 433 |
-
"
|
| 434 |
-
|
| 435 |
-
|
| 436 |
-
]
|
| 437 |
-
"object_id": [
|
| 438 |
-
[
|
| 439 |
-
"easter_egg_181",
|
| 440 |
-
"wicker_basket_178"
|
| 441 |
-
],
|
| 442 |
-
[
|
| 443 |
-
"easter_egg_181",
|
| 444 |
-
"lawn_aztwla_0",
|
| 445 |
-
"tree_dyymaq_0"
|
| 446 |
-
]
|
| 447 |
-
],
|
| 448 |
-
"manipulating_object_id": [
|
| 449 |
-
"easter_egg_181",
|
| 450 |
-
"easter_egg_181"
|
| 451 |
-
],
|
| 452 |
-
"spatial_prefix": [
|
| 453 |
-
[],
|
| 454 |
-
[
|
| 455 |
-
[],
|
| 456 |
-
[],
|
| 457 |
-
[
|
| 458 |
-
"in_front_of"
|
| 459 |
-
]
|
| 460 |
-
]
|
| 461 |
-
],
|
| 462 |
-
"frame_duration": [
|
| 463 |
-
3214,
|
| 464 |
-
5082
|
| 465 |
-
],
|
| 466 |
-
"skill_idxes": [
|
| 467 |
-
8,
|
| 468 |
-
9,
|
| 469 |
-
10
|
| 470 |
-
]
|
| 471 |
}
|
| 472 |
]
|
| 473 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5082,
|
| 6 |
+
"valid_duration": [0, 5082]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 531],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [531, 862],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [862, 1092],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1092, 1249],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1249, 1894],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [2],
|
| 72 |
+
"skill_description": ["pick up from"],
|
| 73 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [1894, 2606],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [91],
|
| 84 |
+
"skill_description": ["place on next to"],
|
| 85 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 89 |
+
"frame_duration": [2606, 3193],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [3193, 3214],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3214, 3607],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3607, 4200],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [91],
|
| 132 |
+
"skill_description": ["place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 137 |
+
"frame_duration": [4200, 5082],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
}
|
| 141 |
],
|
| 142 |
"primitive_annotation": [
|
| 143 |
{
|
| 144 |
"primitive_idx": 0,
|
| 145 |
+
"primitive_id": [1, 2, 3],
|
| 146 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 147 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_0"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 148 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 149 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"spatial_prefix": [],
|
| 151 |
+
"frame_duration": [0, 1249],
|
| 152 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 153 |
},
|
| 154 |
{
|
| 155 |
"primitive_idx": 1,
|
| 156 |
+
"primitive_id": [2, 91],
|
| 157 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 158 |
+
"object_id": [[["easter_egg_180", "easter_egg_179"], "wicker_basket_178"], [["easter_egg_179", "easter_egg_180"], "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 159 |
+
"manipulating_object_id": [["easter_egg_180", "easter_egg_179"], ["easter_egg_179", "easter_egg_180"]],
|
| 160 |
+
"memory_prefix": [],
|
| 161 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 162 |
+
"frame_duration": [1249, 3214],
|
| 163 |
+
"skill_idxes": [4, 5, 6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"primitive_idx": 2,
|
| 167 |
+
"primitive_id": [2, 91],
|
| 168 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 171 |
+
"memory_prefix": ["the other", ""],
|
| 172 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 173 |
+
"frame_duration": [3214, 5082],
|
| 174 |
+
"skill_idxes": [8, 9, 10]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 175 |
}
|
| 176 |
]
|
| 177 |
}
|
annotations/task-0006/episode_00061620.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6317,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6317
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
555
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
555,
|
| 56 |
-
1186
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_flkzbo_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1186,
|
| 80 |
-
1444
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1444,
|
| 107 |
-
1605
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1606,
|
| 134 |
-
2145
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_flkzbo_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2146,
|
| 168 |
-
2768
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
2769,
|
| 192 |
-
3354
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3354,
|
| 219 |
-
4079
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_flkzbo_1"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
4079,
|
| 253 |
-
4585
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4585,
|
| 277 |
-
4956
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
4956,
|
| 304 |
-
5773
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_flkzbo_1"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
5773,
|
| 338 |
-
6317
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_flkzbo_1"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
1605
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_180",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_180",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_flkzbo_1"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_180",
|
| 412 |
-
"easter_egg_180"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
1606,
|
| 426 |
-
2768
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_179",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_179",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_flkzbo_1"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_179",
|
| 456 |
-
"easter_egg_179"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
2769,
|
| 470 |
-
4585
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_181",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_181",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_flkzbo_1"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_181",
|
| 501 |
-
"easter_egg_181"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
4585,
|
| 515 |
-
6317
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6317,
|
| 6 |
+
"valid_duration": [0, 6317]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 555],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [555, 1186],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_flkzbo_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1186, 1444],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1444, 1605],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1606, 2145],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2146, 2768],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2769, 3354],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3354, 4079],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [4079, 4585],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4585, 4956],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4956, 5773],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [5773, 6317],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_flkzbo_1"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1605],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [1606, 2768],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [2769, 4585],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_flkzbo_1"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [4585, 6317],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061670.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8532,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
8532
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1924
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1924,
|
| 56 |
-
2712
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2712,
|
| 80 |
-
3317
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
3324,
|
| 107 |
-
3513
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
3513,
|
| 134 |
-
3856
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3856,
|
| 168 |
-
4736
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
4736,
|
| 192 |
-
5122
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
5123,
|
| 219 |
-
6011
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
6011,
|
| 253 |
-
6333
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
6333,
|
| 277 |
-
6691
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
6691,
|
| 304 |
-
7248
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
7248,
|
| 338 |
-
8532
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_rrhqpw_2"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
3513
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_179",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_179",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_rrhqpw_2"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_179",
|
| 412 |
-
"easter_egg_179"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
3513,
|
| 426 |
-
4736
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_180",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_180",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_rrhqpw_2"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_180",
|
| 456 |
-
"easter_egg_180"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
4736,
|
| 470 |
-
6333
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_181",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_181",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_rrhqpw_2"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_181",
|
| 501 |
-
"easter_egg_181"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
6333,
|
| 515 |
-
8532
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 8532,
|
| 6 |
+
"valid_duration": [0, 8532]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1924],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1924, 2712],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2712, 3317],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3324, 3513],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3513, 3856],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3856, 4736],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4736, 5122],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5123, 6011],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [6011, 6333],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [6333, 6691],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6691, 7248],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [7248, 8532],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_2"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 3513],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [3513, 4736],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [4736, 6333],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [6333, 8532],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061680.json
CHANGED
|
@@ -3,500 +3,186 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7322,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
102,
|
| 8 |
-
7424
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
102,
|
| 29 |
-
1018
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1018,
|
| 56 |
-
1651
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1651,
|
| 80 |
-
2163
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2163,
|
| 107 |
-
2491
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2491,
|
| 134 |
-
3251
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3251,
|
| 168 |
-
3993
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"
|
| 181 |
-
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"easter_egg_181",
|
| 186 |
-
"wicker_basket_178"
|
| 187 |
-
]
|
| 188 |
-
],
|
| 189 |
-
"manipulating_object_id": [
|
| 190 |
-
"easter_egg_181"
|
| 191 |
-
],
|
| 192 |
"spatial_prefix": [],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
3993,
|
| 195 |
-
5006
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_181",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_rrhqpw_2"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_181"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
5006,
|
| 229 |
-
5465
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"skill_description": [
|
| 242 |
-
"move to"
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"wicker_basket_178"
|
| 247 |
-
]
|
| 248 |
-
],
|
| 249 |
"manipulating_object_id": [],
|
|
|
|
| 250 |
"spatial_prefix": [],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
5465,
|
| 253 |
-
5533
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"navigation"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"easter_egg_179",
|
| 271 |
-
"wicker_basket_178"
|
| 272 |
-
]
|
| 273 |
-
],
|
| 274 |
-
"manipulating_object_id": [
|
| 275 |
-
"easter_egg_179"
|
| 276 |
-
],
|
| 277 |
"spatial_prefix": [],
|
| 278 |
-
"frame_duration": [
|
| 279 |
-
5533,
|
| 280 |
-
6606
|
| 281 |
-
],
|
| 282 |
"mp_ef": [],
|
| 283 |
-
"skill_type": [
|
| 284 |
-
"uncoordinated"
|
| 285 |
-
]
|
| 286 |
},
|
| 287 |
{
|
| 288 |
"skill_idx": 10,
|
| 289 |
-
"skill_id": [
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
[
|
| 297 |
-
"easter_egg_179",
|
| 298 |
-
"lawn_aztwla_0",
|
| 299 |
-
"tree_rrhqpw_2"
|
| 300 |
-
]
|
| 301 |
-
],
|
| 302 |
-
"manipulating_object_id": [
|
| 303 |
-
"easter_egg_179"
|
| 304 |
-
],
|
| 305 |
-
"spatial_prefix": [
|
| 306 |
-
[
|
| 307 |
-
"",
|
| 308 |
-
"",
|
| 309 |
-
"in_front_of"
|
| 310 |
-
]
|
| 311 |
-
],
|
| 312 |
-
"frame_duration": [
|
| 313 |
-
6606,
|
| 314 |
-
7424
|
| 315 |
-
],
|
| 316 |
"mp_ef": [],
|
| 317 |
-
"skill_type": [
|
| 318 |
-
"uncoordinated"
|
| 319 |
-
]
|
| 320 |
}
|
| 321 |
],
|
| 322 |
"primitive_annotation": [
|
| 323 |
{
|
| 324 |
"primitive_idx": 0,
|
| 325 |
-
"primitive_id": [
|
| 326 |
-
|
| 327 |
-
|
| 328 |
-
|
| 329 |
-
],
|
| 330 |
-
"primitive_description": [
|
| 331 |
-
"move to",
|
| 332 |
-
"pick up from",
|
| 333 |
-
"place on"
|
| 334 |
-
],
|
| 335 |
-
"object_id": [
|
| 336 |
-
[
|
| 337 |
-
[
|
| 338 |
-
"wicker_basket_178",
|
| 339 |
-
"tree_rrhqpw_2"
|
| 340 |
-
]
|
| 341 |
-
],
|
| 342 |
-
[
|
| 343 |
-
"wicker_basket_178",
|
| 344 |
-
"lawn_aztwla_0"
|
| 345 |
-
],
|
| 346 |
-
[
|
| 347 |
-
"wicker_basket_178",
|
| 348 |
-
"lawn_aztwla_0"
|
| 349 |
-
]
|
| 350 |
-
],
|
| 351 |
-
"manipulating_object_id": [
|
| 352 |
-
[],
|
| 353 |
-
"wicker_basket_178",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
"spatial_prefix": [],
|
| 357 |
-
"frame_duration": [
|
| 358 |
-
|
| 359 |
-
2491
|
| 360 |
-
],
|
| 361 |
-
"skill_idxes": [
|
| 362 |
-
0,
|
| 363 |
-
1,
|
| 364 |
-
2,
|
| 365 |
-
3
|
| 366 |
-
]
|
| 367 |
},
|
| 368 |
{
|
| 369 |
"primitive_idx": 1,
|
| 370 |
-
"primitive_id": [
|
| 371 |
-
|
| 372 |
-
|
| 373 |
-
],
|
| 374 |
-
"
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
]
|
| 378 |
-
"object_id": [
|
| 379 |
-
[
|
| 380 |
-
"easter_egg_180",
|
| 381 |
-
"wicker_basket_178"
|
| 382 |
-
],
|
| 383 |
-
[
|
| 384 |
-
"easter_egg_180",
|
| 385 |
-
"lawn_aztwla_0",
|
| 386 |
-
"tree_rrhqpw_2"
|
| 387 |
-
]
|
| 388 |
-
],
|
| 389 |
-
"manipulating_object_id": [
|
| 390 |
-
"easter_egg_180",
|
| 391 |
-
"easter_egg_180"
|
| 392 |
-
],
|
| 393 |
-
"spatial_prefix": [
|
| 394 |
-
[],
|
| 395 |
-
[
|
| 396 |
-
[],
|
| 397 |
-
[],
|
| 398 |
-
[
|
| 399 |
-
"in_front_of"
|
| 400 |
-
]
|
| 401 |
-
]
|
| 402 |
-
],
|
| 403 |
-
"frame_duration": [
|
| 404 |
-
2491,
|
| 405 |
-
3993
|
| 406 |
-
],
|
| 407 |
-
"skill_idxes": [
|
| 408 |
-
4,
|
| 409 |
-
5
|
| 410 |
-
]
|
| 411 |
},
|
| 412 |
{
|
| 413 |
"primitive_idx": 2,
|
| 414 |
-
"primitive_id": [
|
| 415 |
-
|
| 416 |
-
|
| 417 |
-
],
|
| 418 |
-
"
|
| 419 |
-
|
| 420 |
-
|
| 421 |
-
]
|
| 422 |
-
"object_id": [
|
| 423 |
-
[
|
| 424 |
-
"easter_egg_181",
|
| 425 |
-
"wicker_basket_178"
|
| 426 |
-
],
|
| 427 |
-
[
|
| 428 |
-
"easter_egg_181",
|
| 429 |
-
"lawn_aztwla_0",
|
| 430 |
-
"tree_rrhqpw_2"
|
| 431 |
-
]
|
| 432 |
-
],
|
| 433 |
-
"manipulating_object_id": [
|
| 434 |
-
"easter_egg_181",
|
| 435 |
-
"easter_egg_181"
|
| 436 |
-
],
|
| 437 |
-
"spatial_prefix": [
|
| 438 |
-
[],
|
| 439 |
-
[
|
| 440 |
-
[],
|
| 441 |
-
[],
|
| 442 |
-
[
|
| 443 |
-
"in_front_of"
|
| 444 |
-
]
|
| 445 |
-
]
|
| 446 |
-
],
|
| 447 |
-
"frame_duration": [
|
| 448 |
-
3993,
|
| 449 |
-
5465
|
| 450 |
-
],
|
| 451 |
-
"skill_idxes": [
|
| 452 |
-
6,
|
| 453 |
-
7
|
| 454 |
-
]
|
| 455 |
},
|
| 456 |
{
|
| 457 |
"primitive_idx": 3,
|
| 458 |
-
"primitive_id": [
|
| 459 |
-
|
| 460 |
-
|
| 461 |
-
],
|
| 462 |
-
"
|
| 463 |
-
|
| 464 |
-
|
| 465 |
-
]
|
| 466 |
-
"object_id": [
|
| 467 |
-
[
|
| 468 |
-
"easter_egg_179",
|
| 469 |
-
"wicker_basket_178"
|
| 470 |
-
],
|
| 471 |
-
[
|
| 472 |
-
"easter_egg_179",
|
| 473 |
-
"lawn_aztwla_0",
|
| 474 |
-
"tree_rrhqpw_2"
|
| 475 |
-
]
|
| 476 |
-
],
|
| 477 |
-
"manipulating_object_id": [
|
| 478 |
-
"easter_egg_179",
|
| 479 |
-
"easter_egg_179"
|
| 480 |
-
],
|
| 481 |
-
"spatial_prefix": [
|
| 482 |
-
[],
|
| 483 |
-
[
|
| 484 |
-
[],
|
| 485 |
-
[],
|
| 486 |
-
[
|
| 487 |
-
"in_front_of"
|
| 488 |
-
]
|
| 489 |
-
]
|
| 490 |
-
],
|
| 491 |
-
"frame_duration": [
|
| 492 |
-
5465,
|
| 493 |
-
7424
|
| 494 |
-
],
|
| 495 |
-
"skill_idxes": [
|
| 496 |
-
8,
|
| 497 |
-
9,
|
| 498 |
-
10
|
| 499 |
-
]
|
| 500 |
}
|
| 501 |
]
|
| 502 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7322,
|
| 6 |
+
"valid_duration": [102, 7424]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [102, 1018],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1018, 1651],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1651, 2163],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2163, 2491],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2491, 3251],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3251, 3993],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3993, 5006],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [5006, 5465],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5465, 5533],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5533, 6606],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [91],
|
| 132 |
+
"skill_description": ["place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 137 |
+
"frame_duration": [6606, 7424],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
}
|
| 141 |
],
|
| 142 |
"primitive_annotation": [
|
| 143 |
{
|
| 144 |
"primitive_idx": 0,
|
| 145 |
+
"primitive_id": [1, 2, 3],
|
| 146 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 147 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 148 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 149 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"spatial_prefix": [],
|
| 151 |
+
"frame_duration": [102, 2491],
|
| 152 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 153 |
},
|
| 154 |
{
|
| 155 |
"primitive_idx": 1,
|
| 156 |
+
"primitive_id": [2, 91],
|
| 157 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 158 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 159 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 160 |
+
"memory_prefix": [],
|
| 161 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 162 |
+
"frame_duration": [2491, 3993],
|
| 163 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"primitive_idx": 2,
|
| 167 |
+
"primitive_id": [2, 91],
|
| 168 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 171 |
+
"memory_prefix": ["the other", ""],
|
| 172 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 173 |
+
"frame_duration": [3993, 5465],
|
| 174 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 175 |
},
|
| 176 |
{
|
| 177 |
"primitive_idx": 3,
|
| 178 |
+
"primitive_id": [2, 91],
|
| 179 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 180 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 181 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 182 |
+
"memory_prefix": ["the other", ""],
|
| 183 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 184 |
+
"frame_duration": [5465, 7424],
|
| 185 |
+
"skill_idxes": [8, 9, 10]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 186 |
}
|
| 187 |
]
|
| 188 |
}
|
annotations/task-0006/episode_00061770.json
CHANGED
|
@@ -3,472 +3,174 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5792,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
5792
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
2394
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
2394,
|
| 56 |
-
2653
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2653,
|
| 80 |
-
3391
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
3391,
|
| 107 |
-
3581
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
3582,
|
| 134 |
-
4027
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
4027,
|
| 168 |
-
4274
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"
|
| 181 |
-
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"easter_egg_179",
|
| 186 |
-
"wicker_basket_178"
|
| 187 |
-
]
|
| 188 |
-
],
|
| 189 |
-
"manipulating_object_id": [
|
| 190 |
-
"easter_egg_179"
|
| 191 |
-
],
|
| 192 |
"spatial_prefix": [],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
4274,
|
| 195 |
-
4747
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_179",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_2"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_179"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
4747,
|
| 229 |
-
5047
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"
|
| 242 |
-
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"easter_egg_181",
|
| 247 |
-
"wicker_basket_178"
|
| 248 |
-
]
|
| 249 |
-
],
|
| 250 |
-
"manipulating_object_id": [
|
| 251 |
-
"easter_egg_181"
|
| 252 |
-
],
|
| 253 |
"spatial_prefix": [],
|
| 254 |
-
"frame_duration": [
|
| 255 |
-
5047,
|
| 256 |
-
5460
|
| 257 |
-
],
|
| 258 |
"mp_ef": [],
|
| 259 |
-
"skill_type": [
|
| 260 |
-
"uncoordinated"
|
| 261 |
-
]
|
| 262 |
},
|
| 263 |
{
|
| 264 |
"skill_idx": 9,
|
| 265 |
-
"skill_id": [
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"
|
| 269 |
-
|
| 270 |
-
],
|
| 271 |
-
"
|
| 272 |
-
[
|
| 273 |
-
"easter_egg_181",
|
| 274 |
-
"lawn_aztwla_0",
|
| 275 |
-
"tree_dyymaq_2"
|
| 276 |
-
]
|
| 277 |
-
],
|
| 278 |
-
"manipulating_object_id": [
|
| 279 |
-
"easter_egg_181"
|
| 280 |
-
],
|
| 281 |
-
"spatial_prefix": [
|
| 282 |
-
[
|
| 283 |
-
"",
|
| 284 |
-
"",
|
| 285 |
-
"in_front_of"
|
| 286 |
-
]
|
| 287 |
-
],
|
| 288 |
-
"frame_duration": [
|
| 289 |
-
5460,
|
| 290 |
-
5792
|
| 291 |
-
],
|
| 292 |
"mp_ef": [],
|
| 293 |
-
"skill_type": [
|
| 294 |
-
"uncoordinated"
|
| 295 |
-
]
|
| 296 |
}
|
| 297 |
],
|
| 298 |
"primitive_annotation": [
|
| 299 |
{
|
| 300 |
"primitive_idx": 0,
|
| 301 |
-
"primitive_id": [
|
| 302 |
-
|
| 303 |
-
|
| 304 |
-
|
| 305 |
-
],
|
| 306 |
-
"primitive_description": [
|
| 307 |
-
"pick up from",
|
| 308 |
-
"move to",
|
| 309 |
-
"place on"
|
| 310 |
-
],
|
| 311 |
-
"object_id": [
|
| 312 |
-
[
|
| 313 |
-
"wicker_basket_178",
|
| 314 |
-
"lawn_aztwla_0"
|
| 315 |
-
],
|
| 316 |
-
[
|
| 317 |
-
"tree_dyymaq_2"
|
| 318 |
-
],
|
| 319 |
-
[
|
| 320 |
-
"wicker_basket_178",
|
| 321 |
-
"lawn_aztwla_0"
|
| 322 |
-
]
|
| 323 |
-
],
|
| 324 |
-
"manipulating_object_id": [
|
| 325 |
-
"wicker_basket_178",
|
| 326 |
-
[],
|
| 327 |
-
"wicker_basket_178"
|
| 328 |
-
],
|
| 329 |
"spatial_prefix": [],
|
| 330 |
-
"frame_duration": [
|
| 331 |
-
|
| 332 |
-
3581
|
| 333 |
-
],
|
| 334 |
-
"skill_idxes": [
|
| 335 |
-
0,
|
| 336 |
-
1,
|
| 337 |
-
2,
|
| 338 |
-
3
|
| 339 |
-
]
|
| 340 |
},
|
| 341 |
{
|
| 342 |
"primitive_idx": 1,
|
| 343 |
-
"primitive_id": [
|
| 344 |
-
|
| 345 |
-
|
| 346 |
-
],
|
| 347 |
-
"
|
| 348 |
-
|
| 349 |
-
|
| 350 |
-
]
|
| 351 |
-
"object_id": [
|
| 352 |
-
[
|
| 353 |
-
"easter_egg_180",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
-
[
|
| 357 |
-
"easter_egg_180",
|
| 358 |
-
"lawn_aztwla_0",
|
| 359 |
-
"tree_dyymaq_2"
|
| 360 |
-
]
|
| 361 |
-
],
|
| 362 |
-
"manipulating_object_id": [
|
| 363 |
-
"easter_egg_180",
|
| 364 |
-
"easter_egg_180"
|
| 365 |
-
],
|
| 366 |
-
"spatial_prefix": [
|
| 367 |
-
[],
|
| 368 |
-
[
|
| 369 |
-
[],
|
| 370 |
-
[],
|
| 371 |
-
[
|
| 372 |
-
"in_front_of"
|
| 373 |
-
]
|
| 374 |
-
]
|
| 375 |
-
],
|
| 376 |
-
"frame_duration": [
|
| 377 |
-
3582,
|
| 378 |
-
4274
|
| 379 |
-
],
|
| 380 |
-
"skill_idxes": [
|
| 381 |
-
4,
|
| 382 |
-
5
|
| 383 |
-
]
|
| 384 |
},
|
| 385 |
{
|
| 386 |
"primitive_idx": 2,
|
| 387 |
-
"primitive_id": [
|
| 388 |
-
|
| 389 |
-
|
| 390 |
-
],
|
| 391 |
-
"
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
]
|
| 395 |
-
"object_id": [
|
| 396 |
-
[
|
| 397 |
-
"easter_egg_179",
|
| 398 |
-
"wicker_basket_178"
|
| 399 |
-
],
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_179",
|
| 402 |
-
"lawn_aztwla_0",
|
| 403 |
-
"tree_dyymaq_2"
|
| 404 |
-
]
|
| 405 |
-
],
|
| 406 |
-
"manipulating_object_id": [
|
| 407 |
-
"easter_egg_179",
|
| 408 |
-
"easter_egg_179"
|
| 409 |
-
],
|
| 410 |
-
"spatial_prefix": [
|
| 411 |
-
[],
|
| 412 |
-
[
|
| 413 |
-
[],
|
| 414 |
-
[],
|
| 415 |
-
[
|
| 416 |
-
"in_front_of"
|
| 417 |
-
]
|
| 418 |
-
]
|
| 419 |
-
],
|
| 420 |
-
"frame_duration": [
|
| 421 |
-
4274,
|
| 422 |
-
5047
|
| 423 |
-
],
|
| 424 |
-
"skill_idxes": [
|
| 425 |
-
6,
|
| 426 |
-
7
|
| 427 |
-
]
|
| 428 |
},
|
| 429 |
{
|
| 430 |
"primitive_idx": 3,
|
| 431 |
-
"primitive_id": [
|
| 432 |
-
|
| 433 |
-
|
| 434 |
-
],
|
| 435 |
-
"
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
]
|
| 439 |
-
"object_id": [
|
| 440 |
-
[
|
| 441 |
-
"easter_egg_181",
|
| 442 |
-
"wicker_basket_178"
|
| 443 |
-
],
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_181",
|
| 446 |
-
"lawn_aztwla_0",
|
| 447 |
-
"tree_dyymaq_2"
|
| 448 |
-
]
|
| 449 |
-
],
|
| 450 |
-
"manipulating_object_id": [
|
| 451 |
-
"easter_egg_181",
|
| 452 |
-
"easter_egg_181"
|
| 453 |
-
],
|
| 454 |
-
"spatial_prefix": [
|
| 455 |
-
[],
|
| 456 |
-
[
|
| 457 |
-
[],
|
| 458 |
-
[],
|
| 459 |
-
[
|
| 460 |
-
"in_front_of"
|
| 461 |
-
]
|
| 462 |
-
]
|
| 463 |
-
],
|
| 464 |
-
"frame_duration": [
|
| 465 |
-
5047,
|
| 466 |
-
5792
|
| 467 |
-
],
|
| 468 |
-
"skill_idxes": [
|
| 469 |
-
8,
|
| 470 |
-
9
|
| 471 |
-
]
|
| 472 |
}
|
| 473 |
]
|
| 474 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5792,
|
| 6 |
+
"valid_duration": [0, 5792]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 2394],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2394, 2653],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2653, 3391],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3391, 3581],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3582, 4027],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [4027, 4274],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4274, 4747],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [4747, 5047],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [2],
|
| 108 |
+
"skill_description": ["pick up from"],
|
| 109 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5047, 5460],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [91],
|
| 120 |
+
"skill_description": ["place on next to"],
|
| 121 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 125 |
+
"frame_duration": [5460, 5792],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
}
|
| 129 |
],
|
| 130 |
"primitive_annotation": [
|
| 131 |
{
|
| 132 |
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [2, 1, 3],
|
| 134 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 135 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_2"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 136 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 137 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 3581],
|
| 140 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 141 |
},
|
| 142 |
{
|
| 143 |
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 91],
|
| 145 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 146 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 147 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 150 |
+
"frame_duration": [3582, 4274],
|
| 151 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 91],
|
| 156 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 157 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 158 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 161 |
+
"frame_duration": [4274, 5047],
|
| 162 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 163 |
},
|
| 164 |
{
|
| 165 |
"primitive_idx": 3,
|
| 166 |
+
"primitive_id": [2, 91],
|
| 167 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 168 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 169 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 170 |
+
"memory_prefix": ["the other", ""],
|
| 171 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 172 |
+
"frame_duration": [5047, 5792],
|
| 173 |
+
"skill_idxes": [8, 9]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 174 |
}
|
| 175 |
]
|
| 176 |
}
|
annotations/task-0006/episode_00061800.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5258,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
5258
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1860
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1860,
|
| 56 |
-
2191
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_5"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2192,
|
| 80 |
-
2474
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2474,
|
| 107 |
-
2780
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2780,
|
| 134 |
-
3149
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_5"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3149,
|
| 168 |
-
3438
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3439,
|
| 192 |
-
3485
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_181",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_181"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3485,
|
| 219 |
-
3964
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_181",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_5"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_181"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3965,
|
| 253 |
-
4202
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4202,
|
| 277 |
-
4251
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_180",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_180"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
4251,
|
| 304 |
-
4655
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_180",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_5"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_180"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
4655,
|
| 338 |
-
5258
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_rrhqpw_5"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
2780
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_179",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_179",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_rrhqpw_5"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_179",
|
| 415 |
-
"easter_egg_179"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
2780,
|
| 429 |
-
3438
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_181",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_181",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_rrhqpw_5"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_181",
|
| 459 |
-
"easter_egg_181"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
3439,
|
| 473 |
-
4202
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_180",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_180",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_rrhqpw_5"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_180",
|
| 504 |
-
"easter_egg_180"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
4202,
|
| 518 |
-
5258
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5258,
|
| 6 |
+
"valid_duration": [0, 5258]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1860],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1860, 2191],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_5"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2192, 2474],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2474, 2780],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2780, 3149],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3149, 3438],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3439, 3485],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3485, 3964],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [3965, 4202],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4202, 4251],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4251, 4655],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [4655, 5258],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_5"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2780],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2780, 3438],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [3439, 4202],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_5"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [4202, 5258],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061900.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6120,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6120
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1225
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1225,
|
| 56 |
-
1693
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1693,
|
| 80 |
-
2241
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2241,
|
| 107 |
-
2632
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2632,
|
| 134 |
-
3455
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3455,
|
| 168 |
-
3762
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3762,
|
| 192 |
-
3946
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3946,
|
| 219 |
-
4447
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_1"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
4447,
|
| 253 |
-
4799
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4799,
|
| 277 |
-
4870
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
4870,
|
| 304 |
-
5467
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_1"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
5467,
|
| 338 |
-
6120
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_1"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
2632
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_179",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_179",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_dyymaq_1"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_179",
|
| 415 |
-
"easter_egg_179"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
2632,
|
| 429 |
-
3762
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_180",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_180",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_dyymaq_1"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_180",
|
| 459 |
-
"easter_egg_180"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
3762,
|
| 473 |
-
4799
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_181",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_181",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_dyymaq_1"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_181",
|
| 504 |
-
"easter_egg_181"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
4799,
|
| 518 |
-
6120
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6120,
|
| 6 |
+
"valid_duration": [0, 6120]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1225],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1225, 1693],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1693, 2241],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2241, 2632],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2632, 3455],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3455, 3762],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3762, 3946],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3946, 4447],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [4447, 4799],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4799, 4870],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4870, 5467],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [5467, 6120],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_1"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2632],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2632, 3762],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [3762, 4799],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [4799, 6120],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061910.json
CHANGED
|
@@ -3,496 +3,187 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6957,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6957
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1196
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1196,
|
| 56 |
-
1649
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1649,
|
| 80 |
-
2076
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2076,
|
| 107 |
-
2189
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2189,
|
| 134 |
-
2691
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"wicker_basket_178"
|
| 153 |
-
]
|
| 154 |
-
],
|
| 155 |
-
"manipulating_object_id": [
|
| 156 |
-
"easter_egg_181"
|
| 157 |
-
],
|
| 158 |
"spatial_prefix": [],
|
| 159 |
-
"frame_duration": [
|
| 160 |
-
2691,
|
| 161 |
-
3702
|
| 162 |
-
],
|
| 163 |
"mp_ef": [],
|
| 164 |
-
"skill_type": [
|
| 165 |
-
"uncoordinated"
|
| 166 |
-
]
|
| 167 |
},
|
| 168 |
{
|
| 169 |
"skill_idx": 6,
|
| 170 |
-
"skill_id": [
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"skill_description": [
|
| 174 |
-
"move to"
|
| 175 |
-
],
|
| 176 |
-
"object_id": [
|
| 177 |
-
[
|
| 178 |
-
"tree_dyymaq_0"
|
| 179 |
-
]
|
| 180 |
-
],
|
| 181 |
"manipulating_object_id": [],
|
|
|
|
| 182 |
"spatial_prefix": [],
|
| 183 |
-
"frame_duration": [
|
| 184 |
-
3702,
|
| 185 |
-
4201
|
| 186 |
-
],
|
| 187 |
"mp_ef": [],
|
| 188 |
-
"skill_type": [
|
| 189 |
-
"navigation"
|
| 190 |
-
]
|
| 191 |
},
|
| 192 |
{
|
| 193 |
"skill_idx": 7,
|
| 194 |
-
"skill_id": [
|
| 195 |
-
|
| 196 |
-
],
|
| 197 |
-
"
|
| 198 |
-
|
| 199 |
-
],
|
| 200 |
-
"
|
| 201 |
-
[
|
| 202 |
-
"easter_egg_181",
|
| 203 |
-
"lawn_aztwla_0",
|
| 204 |
-
"tree_dyymaq_0"
|
| 205 |
-
]
|
| 206 |
-
],
|
| 207 |
-
"manipulating_object_id": [
|
| 208 |
-
"easter_egg_181"
|
| 209 |
-
],
|
| 210 |
-
"spatial_prefix": [
|
| 211 |
-
[
|
| 212 |
-
"",
|
| 213 |
-
"",
|
| 214 |
-
"in_front_of"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
4201,
|
| 219 |
-
4605
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_0"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
4605,
|
| 253 |
-
4632
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4632,
|
| 277 |
-
5189
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
5189,
|
| 304 |
-
5985
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_0"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
5985,
|
| 338 |
-
6957
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_0"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
2189
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_180",
|
| 406 |
-
"easter_egg_181"
|
| 407 |
-
],
|
| 408 |
-
"wicker_basket_178"
|
| 409 |
-
],
|
| 410 |
-
[
|
| 411 |
-
[
|
| 412 |
-
"easter_egg_181",
|
| 413 |
-
"easter_egg_180"
|
| 414 |
-
],
|
| 415 |
-
"lawn_aztwla_0",
|
| 416 |
-
"tree_dyymaq_0"
|
| 417 |
-
]
|
| 418 |
-
],
|
| 419 |
-
"manipulating_object_id": [
|
| 420 |
-
[
|
| 421 |
-
"easter_egg_180",
|
| 422 |
-
"easter_egg_181"
|
| 423 |
-
],
|
| 424 |
-
[
|
| 425 |
-
"easter_egg_181",
|
| 426 |
-
"easter_egg_180"
|
| 427 |
-
]
|
| 428 |
-
],
|
| 429 |
-
"spatial_prefix": [
|
| 430 |
-
[],
|
| 431 |
-
[
|
| 432 |
-
[],
|
| 433 |
-
[],
|
| 434 |
-
[
|
| 435 |
-
"in_front_of",
|
| 436 |
-
"in_front_of"
|
| 437 |
-
]
|
| 438 |
-
]
|
| 439 |
-
],
|
| 440 |
-
"frame_duration": [
|
| 441 |
-
2189,
|
| 442 |
-
4632
|
| 443 |
-
],
|
| 444 |
-
"skill_idxes": [
|
| 445 |
-
4,
|
| 446 |
-
5,
|
| 447 |
-
6,
|
| 448 |
-
7,
|
| 449 |
-
8
|
| 450 |
-
]
|
| 451 |
},
|
| 452 |
{
|
| 453 |
"primitive_idx": 2,
|
| 454 |
-
"primitive_id": [
|
| 455 |
-
|
| 456 |
-
|
| 457 |
-
],
|
| 458 |
-
"
|
| 459 |
-
|
| 460 |
-
|
| 461 |
-
]
|
| 462 |
-
"object_id": [
|
| 463 |
-
[
|
| 464 |
-
"easter_egg_179",
|
| 465 |
-
"wicker_basket_178"
|
| 466 |
-
],
|
| 467 |
-
[
|
| 468 |
-
"easter_egg_179",
|
| 469 |
-
"lawn_aztwla_0",
|
| 470 |
-
"tree_dyymaq_0"
|
| 471 |
-
]
|
| 472 |
-
],
|
| 473 |
-
"manipulating_object_id": [
|
| 474 |
-
"easter_egg_179",
|
| 475 |
-
"easter_egg_179"
|
| 476 |
-
],
|
| 477 |
-
"spatial_prefix": [
|
| 478 |
-
[],
|
| 479 |
-
[
|
| 480 |
-
[],
|
| 481 |
-
[],
|
| 482 |
-
[
|
| 483 |
-
"in_front_of"
|
| 484 |
-
]
|
| 485 |
-
]
|
| 486 |
-
],
|
| 487 |
-
"frame_duration": [
|
| 488 |
-
4632,
|
| 489 |
-
6957
|
| 490 |
-
],
|
| 491 |
-
"skill_idxes": [
|
| 492 |
-
9,
|
| 493 |
-
10,
|
| 494 |
-
11
|
| 495 |
-
]
|
| 496 |
}
|
| 497 |
]
|
| 498 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6957,
|
| 6 |
+
"valid_duration": [0, 6957]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1196],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1196, 1649],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1649, 2076],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2076, 2189],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2189, 2691],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [2],
|
| 72 |
+
"skill_description": ["pick up from"],
|
| 73 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2691, 3702],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3702, 4201],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [4201, 4605],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [4605, 4632],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4632, 5189],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5189, 5985],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [5985, 6957],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_0"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2189],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [[["easter_egg_180", "easter_egg_181"], "wicker_basket_178"], [["easter_egg_181", "easter_egg_180"], "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 171 |
+
"manipulating_object_id": [["easter_egg_180", "easter_egg_181"], ["easter_egg_181", "easter_egg_180"]],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 174 |
+
"frame_duration": [2189, 4632],
|
| 175 |
+
"skill_idxes": [4, 5, 6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [4632, 6957],
|
| 186 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
}
|
| 188 |
]
|
| 189 |
}
|
annotations/task-0006/episode_00061960.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5564,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
5564
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
2271
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
2271,
|
| 56 |
-
2639
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_4"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2639,
|
| 80 |
-
2827
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
2827,
|
| 107 |
-
2972
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2972,
|
| 134 |
-
3348
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_4"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
3348,
|
| 168 |
-
3755
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3755,
|
| 192 |
-
3926
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3926,
|
| 219 |
-
4357
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_4"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
4357,
|
| 253 |
-
4671
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4671,
|
| 277 |
-
4791
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
4791,
|
| 304 |
-
5101
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_4"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
5101,
|
| 338 |
-
5564
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_rrhqpw_4"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
2972
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_180",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_180",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_rrhqpw_4"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_180",
|
| 415 |
-
"easter_egg_180"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
2972,
|
| 429 |
-
3755
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_179",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_179",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_rrhqpw_4"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_179",
|
| 459 |
-
"easter_egg_179"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
3755,
|
| 473 |
-
4671
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_181",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_181",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_rrhqpw_4"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_181",
|
| 504 |
-
"easter_egg_181"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
4671,
|
| 518 |
-
5564
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5564,
|
| 6 |
+
"valid_duration": [0, 5564]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 2271],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2271, 2639],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_4"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2639, 2827],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2827, 2972],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2972, 3348],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [3348, 3755],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3755, 3926],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3926, 4357],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [4357, 4671],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4671, 4791],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4791, 5101],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [5101, 5564],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_4"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2972],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2972, 3755],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [3755, 4671],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [4671, 5564],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00061990.json
CHANGED
|
@@ -3,572 +3,222 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7646,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
7646
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
794
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
794,
|
| 56 |
-
1339
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_4"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1340,
|
| 80 |
-
1665
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1665,
|
| 107 |
-
2108
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2108,
|
| 134 |
-
2946
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_4"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2946,
|
| 168 |
-
3601
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3601,
|
| 192 |
-
3765
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3766,
|
| 219 |
-
4526
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"skill_description": [
|
| 232 |
-
"move to"
|
| 233 |
-
],
|
| 234 |
-
"object_id": [
|
| 235 |
-
[
|
| 236 |
-
"tree_rrhqpw_4"
|
| 237 |
-
]
|
| 238 |
-
],
|
| 239 |
"manipulating_object_id": [],
|
|
|
|
| 240 |
"spatial_prefix": [],
|
| 241 |
-
"frame_duration": [
|
| 242 |
-
4526,
|
| 243 |
-
4898
|
| 244 |
-
],
|
| 245 |
"mp_ef": [],
|
| 246 |
-
"skill_type": [
|
| 247 |
-
"navigation"
|
| 248 |
-
]
|
| 249 |
},
|
| 250 |
{
|
| 251 |
"skill_idx": 9,
|
| 252 |
-
"skill_id": [
|
| 253 |
-
|
| 254 |
-
],
|
| 255 |
-
"
|
| 256 |
-
|
| 257 |
-
],
|
| 258 |
-
"
|
| 259 |
-
[
|
| 260 |
-
"easter_egg_179",
|
| 261 |
-
"lawn_aztwla_0",
|
| 262 |
-
"tree_rrhqpw_4"
|
| 263 |
-
]
|
| 264 |
-
],
|
| 265 |
-
"manipulating_object_id": [
|
| 266 |
-
"easter_egg_179"
|
| 267 |
-
],
|
| 268 |
-
"spatial_prefix": [
|
| 269 |
-
[
|
| 270 |
-
"",
|
| 271 |
-
"",
|
| 272 |
-
"in_front_of"
|
| 273 |
-
]
|
| 274 |
-
],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4898,
|
| 277 |
-
5280
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"uncoordinated"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"skill_description": [
|
| 290 |
-
"move to"
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"wicker_basket_178"
|
| 295 |
-
]
|
| 296 |
-
],
|
| 297 |
"manipulating_object_id": [],
|
|
|
|
| 298 |
"spatial_prefix": [],
|
| 299 |
-
"frame_duration": [
|
| 300 |
-
5280,
|
| 301 |
-
5494
|
| 302 |
-
],
|
| 303 |
"mp_ef": [],
|
| 304 |
-
"skill_type": [
|
| 305 |
-
"navigation"
|
| 306 |
-
]
|
| 307 |
},
|
| 308 |
{
|
| 309 |
"skill_idx": 11,
|
| 310 |
-
"skill_id": [
|
| 311 |
-
|
| 312 |
-
],
|
| 313 |
-
"
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"object_id": [
|
| 317 |
-
[
|
| 318 |
-
"easter_egg_181",
|
| 319 |
-
"wicker_basket_178"
|
| 320 |
-
]
|
| 321 |
-
],
|
| 322 |
-
"manipulating_object_id": [
|
| 323 |
-
"easter_egg_181"
|
| 324 |
-
],
|
| 325 |
"spatial_prefix": [],
|
| 326 |
-
"frame_duration": [
|
| 327 |
-
5494,
|
| 328 |
-
6138
|
| 329 |
-
],
|
| 330 |
"mp_ef": [],
|
| 331 |
-
"skill_type": [
|
| 332 |
-
"uncoordinated"
|
| 333 |
-
]
|
| 334 |
},
|
| 335 |
{
|
| 336 |
"skill_idx": 12,
|
| 337 |
-
"skill_id": [
|
| 338 |
-
|
| 339 |
-
],
|
| 340 |
-
"skill_description": [
|
| 341 |
-
"move to"
|
| 342 |
-
],
|
| 343 |
-
"object_id": [
|
| 344 |
-
[
|
| 345 |
-
"tree_rrhqpw_4"
|
| 346 |
-
]
|
| 347 |
-
],
|
| 348 |
"manipulating_object_id": [],
|
|
|
|
| 349 |
"spatial_prefix": [],
|
| 350 |
-
"frame_duration": [
|
| 351 |
-
6138,
|
| 352 |
-
6450
|
| 353 |
-
],
|
| 354 |
"mp_ef": [],
|
| 355 |
-
"skill_type": [
|
| 356 |
-
"navigation"
|
| 357 |
-
]
|
| 358 |
},
|
| 359 |
{
|
| 360 |
"skill_idx": 13,
|
| 361 |
-
"skill_id": [
|
| 362 |
-
|
| 363 |
-
],
|
| 364 |
-
"
|
| 365 |
-
|
| 366 |
-
],
|
| 367 |
-
"
|
| 368 |
-
[
|
| 369 |
-
"easter_egg_181",
|
| 370 |
-
"lawn_aztwla_0",
|
| 371 |
-
"tree_rrhqpw_4"
|
| 372 |
-
]
|
| 373 |
-
],
|
| 374 |
-
"manipulating_object_id": [
|
| 375 |
-
"easter_egg_181"
|
| 376 |
-
],
|
| 377 |
-
"spatial_prefix": [
|
| 378 |
-
[
|
| 379 |
-
"",
|
| 380 |
-
"",
|
| 381 |
-
"in_front_of"
|
| 382 |
-
]
|
| 383 |
-
],
|
| 384 |
-
"frame_duration": [
|
| 385 |
-
6450,
|
| 386 |
-
7646
|
| 387 |
-
],
|
| 388 |
"mp_ef": [],
|
| 389 |
-
"skill_type": [
|
| 390 |
-
"uncoordinated"
|
| 391 |
-
]
|
| 392 |
}
|
| 393 |
],
|
| 394 |
"primitive_annotation": [
|
| 395 |
{
|
| 396 |
"primitive_idx": 0,
|
| 397 |
-
"primitive_id": [
|
| 398 |
-
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
],
|
| 402 |
-
"primitive_description": [
|
| 403 |
-
"pick up from",
|
| 404 |
-
"move to",
|
| 405 |
-
"place on"
|
| 406 |
-
],
|
| 407 |
-
"object_id": [
|
| 408 |
-
[
|
| 409 |
-
"wicker_basket_178",
|
| 410 |
-
"lawn_aztwla_0"
|
| 411 |
-
],
|
| 412 |
-
[
|
| 413 |
-
"tree_rrhqpw_4"
|
| 414 |
-
],
|
| 415 |
-
[
|
| 416 |
-
"wicker_basket_178",
|
| 417 |
-
"lawn_aztwla_0"
|
| 418 |
-
]
|
| 419 |
-
],
|
| 420 |
-
"manipulating_object_id": [
|
| 421 |
-
"wicker_basket_178",
|
| 422 |
-
[],
|
| 423 |
-
"wicker_basket_178"
|
| 424 |
-
],
|
| 425 |
"spatial_prefix": [],
|
| 426 |
-
"frame_duration": [
|
| 427 |
-
|
| 428 |
-
2108
|
| 429 |
-
],
|
| 430 |
-
"skill_idxes": [
|
| 431 |
-
0,
|
| 432 |
-
1,
|
| 433 |
-
2,
|
| 434 |
-
3
|
| 435 |
-
]
|
| 436 |
},
|
| 437 |
{
|
| 438 |
"primitive_idx": 1,
|
| 439 |
-
"primitive_id": [
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
],
|
| 443 |
-
"
|
| 444 |
-
|
| 445 |
-
|
| 446 |
-
]
|
| 447 |
-
"object_id": [
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_180",
|
| 450 |
-
"wicker_basket_178"
|
| 451 |
-
],
|
| 452 |
-
[
|
| 453 |
-
"easter_egg_180",
|
| 454 |
-
"lawn_aztwla_0",
|
| 455 |
-
"tree_rrhqpw_4"
|
| 456 |
-
]
|
| 457 |
-
],
|
| 458 |
-
"manipulating_object_id": [
|
| 459 |
-
"easter_egg_180",
|
| 460 |
-
"easter_egg_180"
|
| 461 |
-
],
|
| 462 |
-
"spatial_prefix": [
|
| 463 |
-
[],
|
| 464 |
-
[
|
| 465 |
-
[],
|
| 466 |
-
[],
|
| 467 |
-
[
|
| 468 |
-
"in_front_of"
|
| 469 |
-
]
|
| 470 |
-
]
|
| 471 |
-
],
|
| 472 |
-
"frame_duration": [
|
| 473 |
-
2108,
|
| 474 |
-
3601
|
| 475 |
-
],
|
| 476 |
-
"skill_idxes": [
|
| 477 |
-
4,
|
| 478 |
-
5
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 2,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_179",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_179",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_rrhqpw_4"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_179",
|
| 504 |
-
"easter_egg_179"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
3601,
|
| 518 |
-
5280
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
6,
|
| 522 |
-
7,
|
| 523 |
-
8,
|
| 524 |
-
9
|
| 525 |
-
]
|
| 526 |
},
|
| 527 |
{
|
| 528 |
"primitive_idx": 3,
|
| 529 |
-
"primitive_id": [
|
| 530 |
-
|
| 531 |
-
|
| 532 |
-
],
|
| 533 |
-
"
|
| 534 |
-
|
| 535 |
-
|
| 536 |
-
]
|
| 537 |
-
"object_id": [
|
| 538 |
-
[
|
| 539 |
-
"easter_egg_181",
|
| 540 |
-
"wicker_basket_178"
|
| 541 |
-
],
|
| 542 |
-
[
|
| 543 |
-
"easter_egg_181",
|
| 544 |
-
"lawn_aztwla_0",
|
| 545 |
-
"tree_rrhqpw_4"
|
| 546 |
-
]
|
| 547 |
-
],
|
| 548 |
-
"manipulating_object_id": [
|
| 549 |
-
"easter_egg_181",
|
| 550 |
-
"easter_egg_181"
|
| 551 |
-
],
|
| 552 |
-
"spatial_prefix": [
|
| 553 |
-
[],
|
| 554 |
-
[
|
| 555 |
-
[],
|
| 556 |
-
[],
|
| 557 |
-
[
|
| 558 |
-
"in_front_of"
|
| 559 |
-
]
|
| 560 |
-
]
|
| 561 |
-
],
|
| 562 |
-
"frame_duration": [
|
| 563 |
-
5280,
|
| 564 |
-
7646
|
| 565 |
-
],
|
| 566 |
-
"skill_idxes": [
|
| 567 |
-
10,
|
| 568 |
-
11,
|
| 569 |
-
12,
|
| 570 |
-
13
|
| 571 |
-
]
|
| 572 |
}
|
| 573 |
]
|
| 574 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7646,
|
| 6 |
+
"valid_duration": [0, 7646]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 794],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [794, 1339],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_4"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1340, 1665],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1665, 2108],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2108, 2946],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2946, 3601],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3601, 3765],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3766, 4526],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["tree_rrhqpw_4"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4526, 4898],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [91],
|
| 120 |
+
"skill_description": ["place on next to"],
|
| 121 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 125 |
+
"frame_duration": [4898, 5280],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 134 |
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5280, 5494],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [2],
|
| 144 |
+
"skill_description": ["pick up from"],
|
| 145 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 148 |
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5494, 6138],
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"skill_idx": 12,
|
| 155 |
+
"skill_id": [1],
|
| 156 |
+
"skill_description": ["move to"],
|
| 157 |
+
"object_id": [["tree_rrhqpw_4"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 158 |
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": ["back"],
|
| 160 |
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6138, 6450],
|
|
|
|
|
|
|
|
|
|
| 162 |
"mp_ef": [],
|
| 163 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"skill_idx": 13,
|
| 167 |
+
"skill_id": [91],
|
| 168 |
+
"skill_description": ["place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 171 |
+
"memory_prefix": [],
|
| 172 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 173 |
+
"frame_duration": [6450, 7646],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 174 |
"mp_ef": [],
|
| 175 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 176 |
}
|
| 177 |
],
|
| 178 |
"primitive_annotation": [
|
| 179 |
{
|
| 180 |
"primitive_idx": 0,
|
| 181 |
+
"primitive_id": [2, 1, 3],
|
| 182 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 183 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_rrhqpw_4"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 184 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 185 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 186 |
"spatial_prefix": [],
|
| 187 |
+
"frame_duration": [0, 2108],
|
| 188 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 189 |
},
|
| 190 |
{
|
| 191 |
"primitive_idx": 1,
|
| 192 |
+
"primitive_id": [2, 91],
|
| 193 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 194 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 195 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 196 |
+
"memory_prefix": [],
|
| 197 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 198 |
+
"frame_duration": [2108, 3601],
|
| 199 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 200 |
},
|
| 201 |
{
|
| 202 |
"primitive_idx": 2,
|
| 203 |
+
"primitive_id": [2, 91],
|
| 204 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 205 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 206 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 207 |
+
"memory_prefix": ["the other", ""],
|
| 208 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 209 |
+
"frame_duration": [3601, 5280],
|
| 210 |
+
"skill_idxes": [6, 7, 8, 9]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 211 |
},
|
| 212 |
{
|
| 213 |
"primitive_idx": 3,
|
| 214 |
+
"primitive_id": [2, 91],
|
| 215 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 216 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 217 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 218 |
+
"memory_prefix": ["the other", ""],
|
| 219 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 220 |
+
"frame_duration": [5280, 7646],
|
| 221 |
+
"skill_idxes": [10, 11, 12, 13]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 222 |
}
|
| 223 |
]
|
| 224 |
}
|
annotations/task-0006/episode_00062110.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4989,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
4989
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
624
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
624,
|
| 56 |
-
1021
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1021,
|
| 80 |
-
1349
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1349,
|
| 107 |
-
1680
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1680,
|
| 134 |
-
2147
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2147,
|
| 168 |
-
2674
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
2675,
|
| 192 |
-
2714
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_181",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_181"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
2714,
|
| 219 |
-
3145
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_181",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_181"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3146,
|
| 253 |
-
3575
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
3575,
|
| 277 |
-
3663
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_180",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_180"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
3663,
|
| 304 |
-
4091
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_180",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_180"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
4091,
|
| 338 |
-
4989
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_2"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
1680
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_179",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_179",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_dyymaq_2"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_179",
|
| 415 |
-
"easter_egg_179"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
1680,
|
| 429 |
-
2674
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_181",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_181",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_dyymaq_2"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_181",
|
| 459 |
-
"easter_egg_181"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
2675,
|
| 473 |
-
3575
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_180",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_180",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_dyymaq_2"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_180",
|
| 504 |
-
"easter_egg_180"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
3575,
|
| 518 |
-
4989
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4989,
|
| 6 |
+
"valid_duration": [0, 4989]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 624],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [624, 1021],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1021, 1349],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1349, 1680],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1680, 2147],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2147, 2674],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2675, 2714],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [2714, 3145],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [3146, 3575],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3575, 3663],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [3663, 4091],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [4091, 4989],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1680],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [1680, 2674],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [2675, 3575],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [3575, 4989],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00062170.json
CHANGED
|
@@ -3,475 +3,174 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 3190,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
3190
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
909
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
909,
|
| 56 |
-
1116
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1116,
|
| 80 |
-
1287
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1287,
|
| 107 |
-
1414
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1414,
|
| 134 |
-
1769
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
1769,
|
| 168 |
-
2016
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"
|
| 181 |
-
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"easter_egg_181",
|
| 186 |
-
"wicker_basket_178"
|
| 187 |
-
]
|
| 188 |
-
],
|
| 189 |
-
"manipulating_object_id": [
|
| 190 |
-
"easter_egg_181"
|
| 191 |
-
],
|
| 192 |
"spatial_prefix": [],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
2016,
|
| 195 |
-
2324
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_181",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_1"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_181"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
2324,
|
| 229 |
-
2539
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"
|
| 242 |
-
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"easter_egg_179",
|
| 247 |
-
"wicker_basket_178"
|
| 248 |
-
]
|
| 249 |
-
],
|
| 250 |
-
"manipulating_object_id": [
|
| 251 |
-
"easter_egg_179"
|
| 252 |
-
],
|
| 253 |
"spatial_prefix": [],
|
| 254 |
-
"frame_duration": [
|
| 255 |
-
2539,
|
| 256 |
-
2874
|
| 257 |
-
],
|
| 258 |
"mp_ef": [],
|
| 259 |
-
"skill_type": [
|
| 260 |
-
"uncoordinated"
|
| 261 |
-
]
|
| 262 |
},
|
| 263 |
{
|
| 264 |
"skill_idx": 9,
|
| 265 |
-
"skill_id": [
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"
|
| 269 |
-
|
| 270 |
-
],
|
| 271 |
-
"
|
| 272 |
-
[
|
| 273 |
-
"easter_egg_179",
|
| 274 |
-
"lawn_aztwla_0",
|
| 275 |
-
"tree_dyymaq_1"
|
| 276 |
-
]
|
| 277 |
-
],
|
| 278 |
-
"manipulating_object_id": [
|
| 279 |
-
"easter_egg_179"
|
| 280 |
-
],
|
| 281 |
-
"spatial_prefix": [
|
| 282 |
-
[
|
| 283 |
-
"",
|
| 284 |
-
"",
|
| 285 |
-
"in_front_of"
|
| 286 |
-
]
|
| 287 |
-
],
|
| 288 |
-
"frame_duration": [
|
| 289 |
-
2874,
|
| 290 |
-
3190
|
| 291 |
-
],
|
| 292 |
"mp_ef": [],
|
| 293 |
-
"skill_type": [
|
| 294 |
-
"uncoordinated"
|
| 295 |
-
]
|
| 296 |
}
|
| 297 |
],
|
| 298 |
"primitive_annotation": [
|
| 299 |
{
|
| 300 |
"primitive_idx": 0,
|
| 301 |
-
"primitive_id": [
|
| 302 |
-
|
| 303 |
-
|
| 304 |
-
|
| 305 |
-
],
|
| 306 |
-
"primitive_description": [
|
| 307 |
-
"move to",
|
| 308 |
-
"pick up from",
|
| 309 |
-
"place on"
|
| 310 |
-
],
|
| 311 |
-
"object_id": [
|
| 312 |
-
[
|
| 313 |
-
[
|
| 314 |
-
"wicker_basket_178",
|
| 315 |
-
"tree_dyymaq_1"
|
| 316 |
-
]
|
| 317 |
-
],
|
| 318 |
-
[
|
| 319 |
-
"wicker_basket_178",
|
| 320 |
-
"lawn_aztwla_0"
|
| 321 |
-
],
|
| 322 |
-
[
|
| 323 |
-
"wicker_basket_178",
|
| 324 |
-
"lawn_aztwla_0"
|
| 325 |
-
]
|
| 326 |
-
],
|
| 327 |
-
"manipulating_object_id": [
|
| 328 |
-
[],
|
| 329 |
-
"wicker_basket_178",
|
| 330 |
-
"wicker_basket_178"
|
| 331 |
-
],
|
| 332 |
"spatial_prefix": [],
|
| 333 |
-
"frame_duration": [
|
| 334 |
-
|
| 335 |
-
1414
|
| 336 |
-
],
|
| 337 |
-
"skill_idxes": [
|
| 338 |
-
0,
|
| 339 |
-
1,
|
| 340 |
-
2,
|
| 341 |
-
3
|
| 342 |
-
]
|
| 343 |
},
|
| 344 |
{
|
| 345 |
"primitive_idx": 1,
|
| 346 |
-
"primitive_id": [
|
| 347 |
-
|
| 348 |
-
|
| 349 |
-
],
|
| 350 |
-
"
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
]
|
| 354 |
-
"object_id": [
|
| 355 |
-
[
|
| 356 |
-
"easter_egg_180",
|
| 357 |
-
"wicker_basket_178"
|
| 358 |
-
],
|
| 359 |
-
[
|
| 360 |
-
"easter_egg_180",
|
| 361 |
-
"lawn_aztwla_0",
|
| 362 |
-
"tree_dyymaq_1"
|
| 363 |
-
]
|
| 364 |
-
],
|
| 365 |
-
"manipulating_object_id": [
|
| 366 |
-
"easter_egg_180",
|
| 367 |
-
"easter_egg_180"
|
| 368 |
-
],
|
| 369 |
-
"spatial_prefix": [
|
| 370 |
-
[],
|
| 371 |
-
[
|
| 372 |
-
[],
|
| 373 |
-
[],
|
| 374 |
-
[
|
| 375 |
-
"in_front_of"
|
| 376 |
-
]
|
| 377 |
-
]
|
| 378 |
-
],
|
| 379 |
-
"frame_duration": [
|
| 380 |
-
1414,
|
| 381 |
-
2016
|
| 382 |
-
],
|
| 383 |
-
"skill_idxes": [
|
| 384 |
-
4,
|
| 385 |
-
5
|
| 386 |
-
]
|
| 387 |
},
|
| 388 |
{
|
| 389 |
"primitive_idx": 2,
|
| 390 |
-
"primitive_id": [
|
| 391 |
-
|
| 392 |
-
|
| 393 |
-
],
|
| 394 |
-
"
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
]
|
| 398 |
-
"object_id": [
|
| 399 |
-
[
|
| 400 |
-
"easter_egg_181",
|
| 401 |
-
"wicker_basket_178"
|
| 402 |
-
],
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_181",
|
| 405 |
-
"lawn_aztwla_0",
|
| 406 |
-
"tree_dyymaq_1"
|
| 407 |
-
]
|
| 408 |
-
],
|
| 409 |
-
"manipulating_object_id": [
|
| 410 |
-
"easter_egg_181",
|
| 411 |
-
"easter_egg_181"
|
| 412 |
-
],
|
| 413 |
-
"spatial_prefix": [
|
| 414 |
-
[],
|
| 415 |
-
[
|
| 416 |
-
[],
|
| 417 |
-
[],
|
| 418 |
-
[
|
| 419 |
-
"in_front_of"
|
| 420 |
-
]
|
| 421 |
-
]
|
| 422 |
-
],
|
| 423 |
-
"frame_duration": [
|
| 424 |
-
2016,
|
| 425 |
-
2539
|
| 426 |
-
],
|
| 427 |
-
"skill_idxes": [
|
| 428 |
-
6,
|
| 429 |
-
7
|
| 430 |
-
]
|
| 431 |
},
|
| 432 |
{
|
| 433 |
"primitive_idx": 3,
|
| 434 |
-
"primitive_id": [
|
| 435 |
-
|
| 436 |
-
|
| 437 |
-
],
|
| 438 |
-
"
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
]
|
| 442 |
-
"object_id": [
|
| 443 |
-
[
|
| 444 |
-
"easter_egg_179",
|
| 445 |
-
"wicker_basket_178"
|
| 446 |
-
],
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_179",
|
| 449 |
-
"lawn_aztwla_0",
|
| 450 |
-
"tree_dyymaq_1"
|
| 451 |
-
]
|
| 452 |
-
],
|
| 453 |
-
"manipulating_object_id": [
|
| 454 |
-
"easter_egg_179",
|
| 455 |
-
"easter_egg_179"
|
| 456 |
-
],
|
| 457 |
-
"spatial_prefix": [
|
| 458 |
-
[],
|
| 459 |
-
[
|
| 460 |
-
[],
|
| 461 |
-
[],
|
| 462 |
-
[
|
| 463 |
-
"in_front_of"
|
| 464 |
-
]
|
| 465 |
-
]
|
| 466 |
-
],
|
| 467 |
-
"frame_duration": [
|
| 468 |
-
2539,
|
| 469 |
-
3190
|
| 470 |
-
],
|
| 471 |
-
"skill_idxes": [
|
| 472 |
-
8,
|
| 473 |
-
9
|
| 474 |
-
]
|
| 475 |
}
|
| 476 |
]
|
| 477 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 3190,
|
| 6 |
+
"valid_duration": [0, 3190]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 909],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [909, 1116],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1116, 1287],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1287, 1414],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1414, 1769],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [1769, 2016],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2016, 2324],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [2324, 2539],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [2],
|
| 108 |
+
"skill_description": ["pick up from"],
|
| 109 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [2539, 2874],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [91],
|
| 120 |
+
"skill_description": ["place on next to"],
|
| 121 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 125 |
+
"frame_duration": [2874, 3190],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
}
|
| 129 |
],
|
| 130 |
"primitive_annotation": [
|
| 131 |
{
|
| 132 |
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [1, 2, 3],
|
| 134 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 135 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_1"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 136 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 137 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1414],
|
| 140 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 141 |
},
|
| 142 |
{
|
| 143 |
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 91],
|
| 145 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 146 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 147 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 150 |
+
"frame_duration": [1414, 2016],
|
| 151 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 152 |
},
|
| 153 |
{
|
| 154 |
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 91],
|
| 156 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 157 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 158 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 161 |
+
"frame_duration": [2016, 2539],
|
| 162 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 163 |
},
|
| 164 |
{
|
| 165 |
"primitive_idx": 3,
|
| 166 |
+
"primitive_id": [2, 91],
|
| 167 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 168 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 169 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 170 |
+
"memory_prefix": ["the other", ""],
|
| 171 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 172 |
+
"frame_duration": [2539, 3190],
|
| 173 |
+
"skill_idxes": [8, 9]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 174 |
}
|
| 175 |
]
|
| 176 |
}
|
annotations/task-0006/episode_00062190.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5673,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
5673
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
609
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
609,
|
| 56 |
-
1003
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1003,
|
| 80 |
-
1762
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1762,
|
| 107 |
-
2136
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2136,
|
| 134 |
-
2706
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2706,
|
| 168 |
-
3140
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3140,
|
| 192 |
-
3325
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3325,
|
| 219 |
-
3733
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_1"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3733,
|
| 253 |
-
4120
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4120,
|
| 277 |
-
4318
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
4318,
|
| 304 |
-
4941
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_1"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
4941,
|
| 338 |
-
5673
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_1"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
2136
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_180",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_180",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_dyymaq_1"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_180",
|
| 415 |
-
"easter_egg_180"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
2136,
|
| 429 |
-
3140
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_179",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_179",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_dyymaq_1"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_179",
|
| 459 |
-
"easter_egg_179"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
3140,
|
| 473 |
-
4120
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_181",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_181",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_dyymaq_1"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_181",
|
| 504 |
-
"easter_egg_181"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
4120,
|
| 518 |
-
5673
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5673,
|
| 6 |
+
"valid_duration": [0, 5673]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 609],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [609, 1003],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1003, 1762],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1762, 2136],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2136, 2706],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2706, 3140],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3140, 3325],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3325, 3733],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [3733, 4120],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4120, 4318],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4318, 4941],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [4941, 5673],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_1"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2136],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2136, 3140],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [3140, 4120],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [4120, 5673],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00062400.json
CHANGED
|
@@ -3,500 +3,186 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 3922,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
66,
|
| 8 |
-
3988
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
66,
|
| 29 |
-
266
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
266,
|
| 56 |
-
717
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
717,
|
| 80 |
-
971
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
971,
|
| 107 |
-
1304
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1304,
|
| 134 |
-
1820
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
1820,
|
| 168 |
-
2284
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"
|
| 181 |
-
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"easter_egg_181",
|
| 186 |
-
"wicker_basket_178"
|
| 187 |
-
]
|
| 188 |
-
],
|
| 189 |
-
"manipulating_object_id": [
|
| 190 |
-
"easter_egg_181"
|
| 191 |
-
],
|
| 192 |
"spatial_prefix": [],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
2284,
|
| 195 |
-
2812
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_181",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_dyymaq_1"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_181"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
2812,
|
| 229 |
-
3193
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"skill_description": [
|
| 242 |
-
"move to"
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"wicker_basket_178"
|
| 247 |
-
]
|
| 248 |
-
],
|
| 249 |
"manipulating_object_id": [],
|
|
|
|
| 250 |
"spatial_prefix": [],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3193,
|
| 253 |
-
3272
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"navigation"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"easter_egg_180",
|
| 271 |
-
"wicker_basket_178"
|
| 272 |
-
]
|
| 273 |
-
],
|
| 274 |
-
"manipulating_object_id": [
|
| 275 |
-
"easter_egg_180"
|
| 276 |
-
],
|
| 277 |
"spatial_prefix": [],
|
| 278 |
-
"frame_duration": [
|
| 279 |
-
3272,
|
| 280 |
-
3667
|
| 281 |
-
],
|
| 282 |
"mp_ef": [],
|
| 283 |
-
"skill_type": [
|
| 284 |
-
"uncoordinated"
|
| 285 |
-
]
|
| 286 |
},
|
| 287 |
{
|
| 288 |
"skill_idx": 10,
|
| 289 |
-
"skill_id": [
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
[
|
| 297 |
-
"easter_egg_180",
|
| 298 |
-
"lawn_aztwla_0",
|
| 299 |
-
"tree_dyymaq_1"
|
| 300 |
-
]
|
| 301 |
-
],
|
| 302 |
-
"manipulating_object_id": [
|
| 303 |
-
"easter_egg_180"
|
| 304 |
-
],
|
| 305 |
-
"spatial_prefix": [
|
| 306 |
-
[
|
| 307 |
-
"",
|
| 308 |
-
"",
|
| 309 |
-
"in_front_of"
|
| 310 |
-
]
|
| 311 |
-
],
|
| 312 |
-
"frame_duration": [
|
| 313 |
-
3667,
|
| 314 |
-
3988
|
| 315 |
-
],
|
| 316 |
"mp_ef": [],
|
| 317 |
-
"skill_type": [
|
| 318 |
-
"uncoordinated"
|
| 319 |
-
]
|
| 320 |
}
|
| 321 |
],
|
| 322 |
"primitive_annotation": [
|
| 323 |
{
|
| 324 |
"primitive_idx": 0,
|
| 325 |
-
"primitive_id": [
|
| 326 |
-
|
| 327 |
-
|
| 328 |
-
|
| 329 |
-
],
|
| 330 |
-
"primitive_description": [
|
| 331 |
-
"move to",
|
| 332 |
-
"pick up from",
|
| 333 |
-
"place on"
|
| 334 |
-
],
|
| 335 |
-
"object_id": [
|
| 336 |
-
[
|
| 337 |
-
[
|
| 338 |
-
"wicker_basket_178",
|
| 339 |
-
"tree_dyymaq_1"
|
| 340 |
-
]
|
| 341 |
-
],
|
| 342 |
-
[
|
| 343 |
-
"wicker_basket_178",
|
| 344 |
-
"lawn_aztwla_0"
|
| 345 |
-
],
|
| 346 |
-
[
|
| 347 |
-
"wicker_basket_178",
|
| 348 |
-
"lawn_aztwla_0"
|
| 349 |
-
]
|
| 350 |
-
],
|
| 351 |
-
"manipulating_object_id": [
|
| 352 |
-
[],
|
| 353 |
-
"wicker_basket_178",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
"spatial_prefix": [],
|
| 357 |
-
"frame_duration": [
|
| 358 |
-
|
| 359 |
-
1304
|
| 360 |
-
],
|
| 361 |
-
"skill_idxes": [
|
| 362 |
-
0,
|
| 363 |
-
1,
|
| 364 |
-
2,
|
| 365 |
-
3
|
| 366 |
-
]
|
| 367 |
},
|
| 368 |
{
|
| 369 |
"primitive_idx": 1,
|
| 370 |
-
"primitive_id": [
|
| 371 |
-
|
| 372 |
-
|
| 373 |
-
],
|
| 374 |
-
"
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
]
|
| 378 |
-
"object_id": [
|
| 379 |
-
[
|
| 380 |
-
"easter_egg_179",
|
| 381 |
-
"wicker_basket_178"
|
| 382 |
-
],
|
| 383 |
-
[
|
| 384 |
-
"easter_egg_179",
|
| 385 |
-
"lawn_aztwla_0",
|
| 386 |
-
"tree_dyymaq_1"
|
| 387 |
-
]
|
| 388 |
-
],
|
| 389 |
-
"manipulating_object_id": [
|
| 390 |
-
"easter_egg_179",
|
| 391 |
-
"easter_egg_179"
|
| 392 |
-
],
|
| 393 |
-
"spatial_prefix": [
|
| 394 |
-
[],
|
| 395 |
-
[
|
| 396 |
-
[],
|
| 397 |
-
[],
|
| 398 |
-
[
|
| 399 |
-
"in_front_of"
|
| 400 |
-
]
|
| 401 |
-
]
|
| 402 |
-
],
|
| 403 |
-
"frame_duration": [
|
| 404 |
-
1304,
|
| 405 |
-
2284
|
| 406 |
-
],
|
| 407 |
-
"skill_idxes": [
|
| 408 |
-
4,
|
| 409 |
-
5
|
| 410 |
-
]
|
| 411 |
},
|
| 412 |
{
|
| 413 |
"primitive_idx": 2,
|
| 414 |
-
"primitive_id": [
|
| 415 |
-
|
| 416 |
-
|
| 417 |
-
],
|
| 418 |
-
"
|
| 419 |
-
|
| 420 |
-
|
| 421 |
-
]
|
| 422 |
-
"object_id": [
|
| 423 |
-
[
|
| 424 |
-
"easter_egg_181",
|
| 425 |
-
"wicker_basket_178"
|
| 426 |
-
],
|
| 427 |
-
[
|
| 428 |
-
"easter_egg_181",
|
| 429 |
-
"lawn_aztwla_0",
|
| 430 |
-
"tree_dyymaq_1"
|
| 431 |
-
]
|
| 432 |
-
],
|
| 433 |
-
"manipulating_object_id": [
|
| 434 |
-
"easter_egg_181",
|
| 435 |
-
"easter_egg_181"
|
| 436 |
-
],
|
| 437 |
-
"spatial_prefix": [
|
| 438 |
-
[],
|
| 439 |
-
[
|
| 440 |
-
[],
|
| 441 |
-
[],
|
| 442 |
-
[
|
| 443 |
-
"in_front_of"
|
| 444 |
-
]
|
| 445 |
-
]
|
| 446 |
-
],
|
| 447 |
-
"frame_duration": [
|
| 448 |
-
2284,
|
| 449 |
-
3193
|
| 450 |
-
],
|
| 451 |
-
"skill_idxes": [
|
| 452 |
-
6,
|
| 453 |
-
7
|
| 454 |
-
]
|
| 455 |
},
|
| 456 |
{
|
| 457 |
"primitive_idx": 3,
|
| 458 |
-
"primitive_id": [
|
| 459 |
-
|
| 460 |
-
|
| 461 |
-
],
|
| 462 |
-
"
|
| 463 |
-
|
| 464 |
-
|
| 465 |
-
]
|
| 466 |
-
"object_id": [
|
| 467 |
-
[
|
| 468 |
-
"easter_egg_180",
|
| 469 |
-
"wicker_basket_178"
|
| 470 |
-
],
|
| 471 |
-
[
|
| 472 |
-
"easter_egg_180",
|
| 473 |
-
"lawn_aztwla_0",
|
| 474 |
-
"tree_dyymaq_1"
|
| 475 |
-
]
|
| 476 |
-
],
|
| 477 |
-
"manipulating_object_id": [
|
| 478 |
-
"easter_egg_180",
|
| 479 |
-
"easter_egg_180"
|
| 480 |
-
],
|
| 481 |
-
"spatial_prefix": [
|
| 482 |
-
[],
|
| 483 |
-
[
|
| 484 |
-
[],
|
| 485 |
-
[],
|
| 486 |
-
[
|
| 487 |
-
"in_front_of"
|
| 488 |
-
]
|
| 489 |
-
]
|
| 490 |
-
],
|
| 491 |
-
"frame_duration": [
|
| 492 |
-
3193,
|
| 493 |
-
3988
|
| 494 |
-
],
|
| 495 |
-
"skill_idxes": [
|
| 496 |
-
8,
|
| 497 |
-
9,
|
| 498 |
-
10
|
| 499 |
-
]
|
| 500 |
}
|
| 501 |
]
|
| 502 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 3922,
|
| 6 |
+
"valid_duration": [66, 3988]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [66, 266],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [266, 717],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [717, 971],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [971, 1304],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1304, 1820],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [1820, 2284],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2284, 2812],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [2812, 3193],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3193, 3272],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3272, 3667],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [91],
|
| 132 |
+
"skill_description": ["place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 137 |
+
"frame_duration": [3667, 3988],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
}
|
| 141 |
],
|
| 142 |
"primitive_annotation": [
|
| 143 |
{
|
| 144 |
"primitive_idx": 0,
|
| 145 |
+
"primitive_id": [1, 2, 3],
|
| 146 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 147 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_1"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 148 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 149 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"spatial_prefix": [],
|
| 151 |
+
"frame_duration": [66, 1304],
|
| 152 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 153 |
},
|
| 154 |
{
|
| 155 |
"primitive_idx": 1,
|
| 156 |
+
"primitive_id": [2, 91],
|
| 157 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 158 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 159 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 160 |
+
"memory_prefix": [],
|
| 161 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 162 |
+
"frame_duration": [1304, 2284],
|
| 163 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"primitive_idx": 2,
|
| 167 |
+
"primitive_id": [2, 91],
|
| 168 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 171 |
+
"memory_prefix": ["the other", ""],
|
| 172 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 173 |
+
"frame_duration": [2284, 3193],
|
| 174 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 175 |
},
|
| 176 |
{
|
| 177 |
"primitive_idx": 3,
|
| 178 |
+
"primitive_id": [2, 91],
|
| 179 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 180 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 181 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 182 |
+
"memory_prefix": ["the other", ""],
|
| 183 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 184 |
+
"frame_duration": [3193, 3988],
|
| 185 |
+
"skill_idxes": [8, 9, 10]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 186 |
}
|
| 187 |
]
|
| 188 |
}
|
annotations/task-0006/episode_00062420.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4167,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
4167
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1253
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1253,
|
| 56 |
-
1626
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1626,
|
| 80 |
-
1935
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1935,
|
| 107 |
-
2100
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2101,
|
| 134 |
-
2457
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_0"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2457,
|
| 168 |
-
2685
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
2685,
|
| 192 |
-
2706
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
2706,
|
| 219 |
-
3081
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_0"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3081,
|
| 253 |
-
3342
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
3342,
|
| 277 |
-
3379
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
3380,
|
| 304 |
-
3747
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_0"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
3747,
|
| 338 |
-
4167
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_rrhqpw_0"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
2100
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_180",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_180",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_rrhqpw_0"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_180",
|
| 415 |
-
"easter_egg_180"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
2101,
|
| 429 |
-
2685
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_179",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_179",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_rrhqpw_0"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_179",
|
| 459 |
-
"easter_egg_179"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
2685,
|
| 473 |
-
3342
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_181",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_181",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_rrhqpw_0"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_181",
|
| 504 |
-
"easter_egg_181"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
3342,
|
| 518 |
-
4167
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4167,
|
| 6 |
+
"valid_duration": [0, 4167]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1253],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1253, 1626],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1626, 1935],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1935, 2100],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2101, 2457],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2457, 2685],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2685, 2706],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [2706, 3081],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [3081, 3342],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3342, 3379],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [3380, 3747],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [3747, 4167],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_0"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2100],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2101, 2685],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [2685, 3342],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_0"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [3342, 4167],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00062550.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5460,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
5460
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1267
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1267,
|
| 56 |
-
1626
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_4"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1627,
|
| 80 |
-
1995
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1995,
|
| 107 |
-
2260
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2260,
|
| 134 |
-
2796
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_4"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2796,
|
| 168 |
-
3159
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
3159,
|
| 192 |
-
3333
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3334,
|
| 219 |
-
3729
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_4"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3729,
|
| 253 |
-
4222
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
4222,
|
| 277 |
-
4471
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
4472,
|
| 304 |
-
4848
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_4"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
4848,
|
| 338 |
-
5460
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_rrhqpw_4"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
2260
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_180",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_180",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_rrhqpw_4"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_180",
|
| 415 |
-
"easter_egg_180"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
2260,
|
| 429 |
-
3159
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_179",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_179",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_rrhqpw_4"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_179",
|
| 459 |
-
"easter_egg_179"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
3159,
|
| 473 |
-
4222
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_181",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_181",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_rrhqpw_4"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_181",
|
| 504 |
-
"easter_egg_181"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
4222,
|
| 518 |
-
5460
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 5460,
|
| 6 |
+
"valid_duration": [0, 5460]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1267],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1267, 1626],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_4"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1627, 1995],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1995, 2260],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2260, 2796],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2796, 3159],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3159, 3333],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3334, 3729],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [3729, 4222],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4222, 4471],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4472, 4848],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [4848, 5460],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_4"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2260],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2260, 3159],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [3159, 4222],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_4"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [4222, 5460],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00062560.json
CHANGED
|
@@ -3,496 +3,187 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6246,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
6246
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
782
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
782,
|
| 56 |
-
1062
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_0"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1062,
|
| 80 |
-
1201
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1201,
|
| 107 |
-
1379
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1379,
|
| 134 |
-
2154
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"object_id": [
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_181",
|
| 152 |
-
"wicker_basket_178"
|
| 153 |
-
]
|
| 154 |
-
],
|
| 155 |
-
"manipulating_object_id": [
|
| 156 |
-
"easter_egg_181"
|
| 157 |
-
],
|
| 158 |
"spatial_prefix": [],
|
| 159 |
-
"frame_duration": [
|
| 160 |
-
2154,
|
| 161 |
-
2944
|
| 162 |
-
],
|
| 163 |
"mp_ef": [],
|
| 164 |
-
"skill_type": [
|
| 165 |
-
"uncoordinated"
|
| 166 |
-
]
|
| 167 |
},
|
| 168 |
{
|
| 169 |
"skill_idx": 6,
|
| 170 |
-
"skill_id": [
|
| 171 |
-
|
| 172 |
-
],
|
| 173 |
-
"skill_description": [
|
| 174 |
-
"move to"
|
| 175 |
-
],
|
| 176 |
-
"object_id": [
|
| 177 |
-
[
|
| 178 |
-
"tree_dyymaq_0"
|
| 179 |
-
]
|
| 180 |
-
],
|
| 181 |
"manipulating_object_id": [],
|
|
|
|
| 182 |
"spatial_prefix": [],
|
| 183 |
-
"frame_duration": [
|
| 184 |
-
2944,
|
| 185 |
-
3150
|
| 186 |
-
],
|
| 187 |
"mp_ef": [],
|
| 188 |
-
"skill_type": [
|
| 189 |
-
"navigation"
|
| 190 |
-
]
|
| 191 |
},
|
| 192 |
{
|
| 193 |
"skill_idx": 7,
|
| 194 |
-
"skill_id": [
|
| 195 |
-
|
| 196 |
-
],
|
| 197 |
-
"
|
| 198 |
-
|
| 199 |
-
],
|
| 200 |
-
"
|
| 201 |
-
[
|
| 202 |
-
"easter_egg_181",
|
| 203 |
-
"lawn_aztwla_0",
|
| 204 |
-
"tree_dyymaq_0"
|
| 205 |
-
]
|
| 206 |
-
],
|
| 207 |
-
"manipulating_object_id": [
|
| 208 |
-
"easter_egg_181"
|
| 209 |
-
],
|
| 210 |
-
"spatial_prefix": [
|
| 211 |
-
[
|
| 212 |
-
"",
|
| 213 |
-
"",
|
| 214 |
-
"in_front_of"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
3150,
|
| 219 |
-
3487
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_0"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3150,
|
| 253 |
-
3487
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
3487,
|
| 277 |
-
4238
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
4238,
|
| 304 |
-
5027
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_0"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
5027,
|
| 338 |
-
6246
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_0"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
1379
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_180",
|
| 406 |
-
"easter_egg_181"
|
| 407 |
-
],
|
| 408 |
-
"wicker_basket_178"
|
| 409 |
-
],
|
| 410 |
-
[
|
| 411 |
-
[
|
| 412 |
-
"easter_egg_181",
|
| 413 |
-
"easter_egg_180"
|
| 414 |
-
],
|
| 415 |
-
"lawn_aztwla_0",
|
| 416 |
-
"tree_dyymaq_0"
|
| 417 |
-
]
|
| 418 |
-
],
|
| 419 |
-
"manipulating_object_id": [
|
| 420 |
-
[
|
| 421 |
-
"easter_egg_180",
|
| 422 |
-
"easter_egg_181"
|
| 423 |
-
],
|
| 424 |
-
[
|
| 425 |
-
"easter_egg_181",
|
| 426 |
-
"easter_egg_180"
|
| 427 |
-
]
|
| 428 |
-
],
|
| 429 |
-
"spatial_prefix": [
|
| 430 |
-
[],
|
| 431 |
-
[
|
| 432 |
-
[],
|
| 433 |
-
[],
|
| 434 |
-
[
|
| 435 |
-
"in_front_of",
|
| 436 |
-
"in_front_of"
|
| 437 |
-
]
|
| 438 |
-
]
|
| 439 |
-
],
|
| 440 |
-
"frame_duration": [
|
| 441 |
-
1379,
|
| 442 |
-
3487
|
| 443 |
-
],
|
| 444 |
-
"skill_idxes": [
|
| 445 |
-
4,
|
| 446 |
-
5,
|
| 447 |
-
6,
|
| 448 |
-
7,
|
| 449 |
-
8
|
| 450 |
-
]
|
| 451 |
},
|
| 452 |
{
|
| 453 |
"primitive_idx": 2,
|
| 454 |
-
"primitive_id": [
|
| 455 |
-
|
| 456 |
-
|
| 457 |
-
],
|
| 458 |
-
"
|
| 459 |
-
|
| 460 |
-
|
| 461 |
-
]
|
| 462 |
-
"object_id": [
|
| 463 |
-
[
|
| 464 |
-
"easter_egg_179",
|
| 465 |
-
"wicker_basket_178"
|
| 466 |
-
],
|
| 467 |
-
[
|
| 468 |
-
"easter_egg_179",
|
| 469 |
-
"lawn_aztwla_0",
|
| 470 |
-
"tree_dyymaq_0"
|
| 471 |
-
]
|
| 472 |
-
],
|
| 473 |
-
"manipulating_object_id": [
|
| 474 |
-
"easter_egg_179",
|
| 475 |
-
"easter_egg_179"
|
| 476 |
-
],
|
| 477 |
-
"spatial_prefix": [
|
| 478 |
-
[],
|
| 479 |
-
[
|
| 480 |
-
[],
|
| 481 |
-
[],
|
| 482 |
-
[
|
| 483 |
-
"in_front_of"
|
| 484 |
-
]
|
| 485 |
-
]
|
| 486 |
-
],
|
| 487 |
-
"frame_duration": [
|
| 488 |
-
3487,
|
| 489 |
-
6246
|
| 490 |
-
],
|
| 491 |
-
"skill_idxes": [
|
| 492 |
-
9,
|
| 493 |
-
10,
|
| 494 |
-
11
|
| 495 |
-
]
|
| 496 |
}
|
| 497 |
]
|
| 498 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 6246,
|
| 6 |
+
"valid_duration": [0, 6246]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 782],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [782, 1062],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1062, 1201],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1201, 1379],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1379, 2154],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [2],
|
| 72 |
+
"skill_description": ["pick up from"],
|
| 73 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 75 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2154, 2944],
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["tree_dyymaq_0"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2944, 3150],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [3150, 3487],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [3150, 3487],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3487, 4238],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4238, 5027],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [5027, 6246],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_0"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1379],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [[["easter_egg_180", "easter_egg_181"], "wicker_basket_178"], [["easter_egg_181", "easter_egg_180"], "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 171 |
+
"manipulating_object_id": [["easter_egg_180", "easter_egg_181"], ["easter_egg_181", "easter_egg_180"]],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of", "in_front_of"]]],
|
| 174 |
+
"frame_duration": [1379, 3487],
|
| 175 |
+
"skill_idxes": [4, 5, 6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_0"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [3487, 6246],
|
| 186 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
}
|
| 188 |
]
|
| 189 |
}
|
annotations/task-0006/episode_00062700.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10423,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
10423
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
4265
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
4265,
|
| 56 |
-
4782
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
4782,
|
| 80 |
-
5217
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
5217,
|
| 107 |
-
5616
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
5616,
|
| 134 |
-
6460
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
6460,
|
| 168 |
-
7106
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
7106,
|
| 192 |
-
7600
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_180",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_180"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
7600,
|
| 219 |
-
8166
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_180",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_1"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_180"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
8166,
|
| 253 |
-
8771
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
8771,
|
| 277 |
-
8949
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
8949,
|
| 304 |
-
9581
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_1"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
9581,
|
| 338 |
-
10423
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_dyymaq_1"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
5616
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_179",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_179",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_dyymaq_1"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_179",
|
| 412 |
-
"easter_egg_179"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
5616,
|
| 426 |
-
7106
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_180",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_180",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_dyymaq_1"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_180",
|
| 456 |
-
"easter_egg_180"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
7106,
|
| 470 |
-
8771
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_181",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_181",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_dyymaq_1"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_181",
|
| 501 |
-
"easter_egg_181"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
8771,
|
| 515 |
-
10423
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 10423,
|
| 6 |
+
"valid_duration": [0, 10423]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 4265],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [4265, 4782],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [4782, 5217],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5217, 5616],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5616, 6460],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [6460, 7106],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7106, 7600],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7600, 8166],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [8166, 8771],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8771, 8949],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [8949, 9581],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [9581, 10423],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_1"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 5616],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [5616, 7106],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [7106, 8771],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [8771, 10423],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00062740.json
CHANGED
|
@@ -3,500 +3,186 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 9341,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
9341
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
4599
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
4599,
|
| 56 |
-
4965
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
4965,
|
| 80 |
-
5601
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
5601,
|
| 107 |
-
5850
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
5850,
|
| 134 |
-
6469
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
6470,
|
| 168 |
-
6750
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"
|
| 181 |
-
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"easter_egg_181",
|
| 186 |
-
"wicker_basket_178"
|
| 187 |
-
]
|
| 188 |
-
],
|
| 189 |
-
"manipulating_object_id": [
|
| 190 |
-
"easter_egg_181"
|
| 191 |
-
],
|
| 192 |
"spatial_prefix": [],
|
| 193 |
-
"frame_duration": [
|
| 194 |
-
6750,
|
| 195 |
-
7296
|
| 196 |
-
],
|
| 197 |
"mp_ef": [],
|
| 198 |
-
"skill_type": [
|
| 199 |
-
"uncoordinated"
|
| 200 |
-
]
|
| 201 |
},
|
| 202 |
{
|
| 203 |
"skill_idx": 7,
|
| 204 |
-
"skill_id": [
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"
|
| 208 |
-
|
| 209 |
-
],
|
| 210 |
-
"
|
| 211 |
-
[
|
| 212 |
-
"easter_egg_181",
|
| 213 |
-
"lawn_aztwla_0",
|
| 214 |
-
"tree_rrhqpw_2"
|
| 215 |
-
]
|
| 216 |
-
],
|
| 217 |
-
"manipulating_object_id": [
|
| 218 |
-
"easter_egg_181"
|
| 219 |
-
],
|
| 220 |
-
"spatial_prefix": [
|
| 221 |
-
[
|
| 222 |
-
"",
|
| 223 |
-
"",
|
| 224 |
-
"in_front_of"
|
| 225 |
-
]
|
| 226 |
-
],
|
| 227 |
-
"frame_duration": [
|
| 228 |
-
7296,
|
| 229 |
-
7677
|
| 230 |
-
],
|
| 231 |
"mp_ef": [],
|
| 232 |
-
"skill_type": [
|
| 233 |
-
"uncoordinated"
|
| 234 |
-
]
|
| 235 |
},
|
| 236 |
{
|
| 237 |
"skill_idx": 8,
|
| 238 |
-
"skill_id": [
|
| 239 |
-
|
| 240 |
-
],
|
| 241 |
-
"skill_description": [
|
| 242 |
-
"move to"
|
| 243 |
-
],
|
| 244 |
-
"object_id": [
|
| 245 |
-
[
|
| 246 |
-
"wicker_basket_178"
|
| 247 |
-
]
|
| 248 |
-
],
|
| 249 |
"manipulating_object_id": [],
|
|
|
|
| 250 |
"spatial_prefix": [],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
7677,
|
| 253 |
-
7934
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"navigation"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"
|
| 266 |
-
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"easter_egg_180",
|
| 271 |
-
"wicker_basket_178"
|
| 272 |
-
]
|
| 273 |
-
],
|
| 274 |
-
"manipulating_object_id": [
|
| 275 |
-
"easter_egg_180"
|
| 276 |
-
],
|
| 277 |
"spatial_prefix": [],
|
| 278 |
-
"frame_duration": [
|
| 279 |
-
7934,
|
| 280 |
-
8581
|
| 281 |
-
],
|
| 282 |
"mp_ef": [],
|
| 283 |
-
"skill_type": [
|
| 284 |
-
"uncoordinated"
|
| 285 |
-
]
|
| 286 |
},
|
| 287 |
{
|
| 288 |
"skill_idx": 10,
|
| 289 |
-
"skill_id": [
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"
|
| 293 |
-
|
| 294 |
-
],
|
| 295 |
-
"
|
| 296 |
-
[
|
| 297 |
-
"easter_egg_180",
|
| 298 |
-
"lawn_aztwla_0",
|
| 299 |
-
"tree_rrhqpw_2"
|
| 300 |
-
]
|
| 301 |
-
],
|
| 302 |
-
"manipulating_object_id": [
|
| 303 |
-
"easter_egg_180"
|
| 304 |
-
],
|
| 305 |
-
"spatial_prefix": [
|
| 306 |
-
[
|
| 307 |
-
"",
|
| 308 |
-
"",
|
| 309 |
-
"in_front_of"
|
| 310 |
-
]
|
| 311 |
-
],
|
| 312 |
-
"frame_duration": [
|
| 313 |
-
8581,
|
| 314 |
-
9341
|
| 315 |
-
],
|
| 316 |
"mp_ef": [],
|
| 317 |
-
"skill_type": [
|
| 318 |
-
"uncoordinated"
|
| 319 |
-
]
|
| 320 |
}
|
| 321 |
],
|
| 322 |
"primitive_annotation": [
|
| 323 |
{
|
| 324 |
"primitive_idx": 0,
|
| 325 |
-
"primitive_id": [
|
| 326 |
-
|
| 327 |
-
|
| 328 |
-
|
| 329 |
-
],
|
| 330 |
-
"primitive_description": [
|
| 331 |
-
"move to",
|
| 332 |
-
"pick up from",
|
| 333 |
-
"place on"
|
| 334 |
-
],
|
| 335 |
-
"object_id": [
|
| 336 |
-
[
|
| 337 |
-
[
|
| 338 |
-
"wicker_basket_178",
|
| 339 |
-
"tree_rrhqpw_2"
|
| 340 |
-
]
|
| 341 |
-
],
|
| 342 |
-
[
|
| 343 |
-
"wicker_basket_178",
|
| 344 |
-
"lawn_aztwla_0"
|
| 345 |
-
],
|
| 346 |
-
[
|
| 347 |
-
"wicker_basket_178",
|
| 348 |
-
"lawn_aztwla_0"
|
| 349 |
-
]
|
| 350 |
-
],
|
| 351 |
-
"manipulating_object_id": [
|
| 352 |
-
[],
|
| 353 |
-
"wicker_basket_178",
|
| 354 |
-
"wicker_basket_178"
|
| 355 |
-
],
|
| 356 |
"spatial_prefix": [],
|
| 357 |
-
"frame_duration": [
|
| 358 |
-
|
| 359 |
-
5850
|
| 360 |
-
],
|
| 361 |
-
"skill_idxes": [
|
| 362 |
-
0,
|
| 363 |
-
1,
|
| 364 |
-
2,
|
| 365 |
-
3
|
| 366 |
-
]
|
| 367 |
},
|
| 368 |
{
|
| 369 |
"primitive_idx": 1,
|
| 370 |
-
"primitive_id": [
|
| 371 |
-
|
| 372 |
-
|
| 373 |
-
],
|
| 374 |
-
"
|
| 375 |
-
|
| 376 |
-
|
| 377 |
-
]
|
| 378 |
-
"object_id": [
|
| 379 |
-
[
|
| 380 |
-
"easter_egg_179",
|
| 381 |
-
"wicker_basket_178"
|
| 382 |
-
],
|
| 383 |
-
[
|
| 384 |
-
"easter_egg_179",
|
| 385 |
-
"lawn_aztwla_0",
|
| 386 |
-
"tree_rrhqpw_2"
|
| 387 |
-
]
|
| 388 |
-
],
|
| 389 |
-
"manipulating_object_id": [
|
| 390 |
-
"easter_egg_179",
|
| 391 |
-
"easter_egg_179"
|
| 392 |
-
],
|
| 393 |
-
"spatial_prefix": [
|
| 394 |
-
[],
|
| 395 |
-
[
|
| 396 |
-
[],
|
| 397 |
-
[],
|
| 398 |
-
[
|
| 399 |
-
"in_front_of"
|
| 400 |
-
]
|
| 401 |
-
]
|
| 402 |
-
],
|
| 403 |
-
"frame_duration": [
|
| 404 |
-
5850,
|
| 405 |
-
6750
|
| 406 |
-
],
|
| 407 |
-
"skill_idxes": [
|
| 408 |
-
4,
|
| 409 |
-
5
|
| 410 |
-
]
|
| 411 |
},
|
| 412 |
{
|
| 413 |
"primitive_idx": 2,
|
| 414 |
-
"primitive_id": [
|
| 415 |
-
|
| 416 |
-
|
| 417 |
-
],
|
| 418 |
-
"
|
| 419 |
-
|
| 420 |
-
|
| 421 |
-
]
|
| 422 |
-
"object_id": [
|
| 423 |
-
[
|
| 424 |
-
"easter_egg_181",
|
| 425 |
-
"wicker_basket_178"
|
| 426 |
-
],
|
| 427 |
-
[
|
| 428 |
-
"easter_egg_181",
|
| 429 |
-
"lawn_aztwla_0",
|
| 430 |
-
"tree_rrhqpw_2"
|
| 431 |
-
]
|
| 432 |
-
],
|
| 433 |
-
"manipulating_object_id": [
|
| 434 |
-
"easter_egg_181",
|
| 435 |
-
"easter_egg_181"
|
| 436 |
-
],
|
| 437 |
-
"spatial_prefix": [
|
| 438 |
-
[],
|
| 439 |
-
[
|
| 440 |
-
[],
|
| 441 |
-
[],
|
| 442 |
-
[
|
| 443 |
-
"in_front_of"
|
| 444 |
-
]
|
| 445 |
-
]
|
| 446 |
-
],
|
| 447 |
-
"frame_duration": [
|
| 448 |
-
6750,
|
| 449 |
-
7677
|
| 450 |
-
],
|
| 451 |
-
"skill_idxes": [
|
| 452 |
-
6,
|
| 453 |
-
7
|
| 454 |
-
]
|
| 455 |
},
|
| 456 |
{
|
| 457 |
"primitive_idx": 3,
|
| 458 |
-
"primitive_id": [
|
| 459 |
-
|
| 460 |
-
|
| 461 |
-
],
|
| 462 |
-
"
|
| 463 |
-
|
| 464 |
-
|
| 465 |
-
]
|
| 466 |
-
"object_id": [
|
| 467 |
-
[
|
| 468 |
-
"easter_egg_180",
|
| 469 |
-
"wicker_basket_178"
|
| 470 |
-
],
|
| 471 |
-
[
|
| 472 |
-
"easter_egg_180",
|
| 473 |
-
"lawn_aztwla_0",
|
| 474 |
-
"tree_rrhqpw_2"
|
| 475 |
-
]
|
| 476 |
-
],
|
| 477 |
-
"manipulating_object_id": [
|
| 478 |
-
"easter_egg_180",
|
| 479 |
-
"easter_egg_180"
|
| 480 |
-
],
|
| 481 |
-
"spatial_prefix": [
|
| 482 |
-
[],
|
| 483 |
-
[
|
| 484 |
-
[],
|
| 485 |
-
[],
|
| 486 |
-
[
|
| 487 |
-
"in_front_of"
|
| 488 |
-
]
|
| 489 |
-
]
|
| 490 |
-
],
|
| 491 |
-
"frame_duration": [
|
| 492 |
-
7677,
|
| 493 |
-
9341
|
| 494 |
-
],
|
| 495 |
-
"skill_idxes": [
|
| 496 |
-
8,
|
| 497 |
-
9,
|
| 498 |
-
10
|
| 499 |
-
]
|
| 500 |
}
|
| 501 |
]
|
| 502 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 9341,
|
| 6 |
+
"valid_duration": [0, 9341]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 4599],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [4599, 4965],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [4965, 5601],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [5601, 5850],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5850, 6469],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [6470, 6750],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 86 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6750, 7296],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [91],
|
| 96 |
+
"skill_description": ["place on next to"],
|
| 97 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 101 |
+
"frame_duration": [7296, 7677],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7677, 7934],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 122 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7934, 8581],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [91],
|
| 132 |
+
"skill_description": ["place on next to"],
|
| 133 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 137 |
+
"frame_duration": [8581, 9341],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
}
|
| 141 |
],
|
| 142 |
"primitive_annotation": [
|
| 143 |
{
|
| 144 |
"primitive_idx": 0,
|
| 145 |
+
"primitive_id": [1, 2, 3],
|
| 146 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 147 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 148 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 149 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"spatial_prefix": [],
|
| 151 |
+
"frame_duration": [0, 5850],
|
| 152 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 153 |
},
|
| 154 |
{
|
| 155 |
"primitive_idx": 1,
|
| 156 |
+
"primitive_id": [2, 91],
|
| 157 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 158 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 159 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 160 |
+
"memory_prefix": [],
|
| 161 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 162 |
+
"frame_duration": [5850, 6750],
|
| 163 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
},
|
| 165 |
{
|
| 166 |
"primitive_idx": 2,
|
| 167 |
+
"primitive_id": [2, 91],
|
| 168 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 169 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 170 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 171 |
+
"memory_prefix": ["the other", ""],
|
| 172 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 173 |
+
"frame_duration": [6750, 7677],
|
| 174 |
+
"skill_idxes": [6, 7]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 175 |
},
|
| 176 |
{
|
| 177 |
"primitive_idx": 3,
|
| 178 |
+
"primitive_id": [2, 91],
|
| 179 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 180 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 181 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 182 |
+
"memory_prefix": ["the other", ""],
|
| 183 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 184 |
+
"frame_duration": [7677, 9341],
|
| 185 |
+
"skill_idxes": [8, 9, 10]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 186 |
}
|
| 187 |
]
|
| 188 |
}
|
annotations/task-0006/episode_00062830.json
CHANGED
|
@@ -3,522 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4957,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
4957
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
1191
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1192,
|
| 56 |
-
1547
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1547,
|
| 80 |
-
1856
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1857,
|
| 107 |
-
2078
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_179",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_179"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
2078,
|
| 134 |
-
2659
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_179",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_179"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2659,
|
| 168 |
-
2820
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
2820,
|
| 192 |
-
2880
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_181",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_181"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
2880,
|
| 219 |
-
3272
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_181",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_181"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
3272,
|
| 253 |
-
3768
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
3768,
|
| 277 |
-
3816
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_180",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_180"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
3816,
|
| 304 |
-
4357
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_180",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_180"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
4357,
|
| 338 |
-
4957
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"pick up from",
|
| 356 |
-
"move to",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
"wicker_basket_178",
|
| 362 |
-
"lawn_aztwla_0"
|
| 363 |
-
],
|
| 364 |
-
[
|
| 365 |
-
"tree_dyymaq_2"
|
| 366 |
-
],
|
| 367 |
-
[
|
| 368 |
-
"wicker_basket_178",
|
| 369 |
-
"lawn_aztwla_0"
|
| 370 |
-
]
|
| 371 |
-
],
|
| 372 |
-
"manipulating_object_id": [
|
| 373 |
-
"wicker_basket_178",
|
| 374 |
-
[],
|
| 375 |
-
"wicker_basket_178"
|
| 376 |
-
],
|
| 377 |
"spatial_prefix": [],
|
| 378 |
-
"frame_duration": [
|
| 379 |
-
|
| 380 |
-
2078
|
| 381 |
-
],
|
| 382 |
-
"skill_idxes": [
|
| 383 |
-
0,
|
| 384 |
-
1,
|
| 385 |
-
2,
|
| 386 |
-
3
|
| 387 |
-
]
|
| 388 |
},
|
| 389 |
{
|
| 390 |
"primitive_idx": 1,
|
| 391 |
-
"primitive_id": [
|
| 392 |
-
|
| 393 |
-
|
| 394 |
-
],
|
| 395 |
-
"
|
| 396 |
-
|
| 397 |
-
|
| 398 |
-
]
|
| 399 |
-
"object_id": [
|
| 400 |
-
[
|
| 401 |
-
"easter_egg_179",
|
| 402 |
-
"wicker_basket_178"
|
| 403 |
-
],
|
| 404 |
-
[
|
| 405 |
-
"easter_egg_179",
|
| 406 |
-
"lawn_aztwla_0",
|
| 407 |
-
"tree_dyymaq_2"
|
| 408 |
-
]
|
| 409 |
-
],
|
| 410 |
-
"manipulating_object_id": [
|
| 411 |
-
"easter_egg_179",
|
| 412 |
-
"easter_egg_179"
|
| 413 |
-
],
|
| 414 |
-
"spatial_prefix": [
|
| 415 |
-
[],
|
| 416 |
-
[
|
| 417 |
-
[],
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
"in_front_of"
|
| 421 |
-
]
|
| 422 |
-
]
|
| 423 |
-
],
|
| 424 |
-
"frame_duration": [
|
| 425 |
-
2078,
|
| 426 |
-
2820
|
| 427 |
-
],
|
| 428 |
-
"skill_idxes": [
|
| 429 |
-
4,
|
| 430 |
-
5
|
| 431 |
-
]
|
| 432 |
},
|
| 433 |
{
|
| 434 |
"primitive_idx": 2,
|
| 435 |
-
"primitive_id": [
|
| 436 |
-
|
| 437 |
-
|
| 438 |
-
],
|
| 439 |
-
"
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
]
|
| 443 |
-
"object_id": [
|
| 444 |
-
[
|
| 445 |
-
"easter_egg_181",
|
| 446 |
-
"wicker_basket_178"
|
| 447 |
-
],
|
| 448 |
-
[
|
| 449 |
-
"easter_egg_181",
|
| 450 |
-
"lawn_aztwla_0",
|
| 451 |
-
"tree_dyymaq_2"
|
| 452 |
-
]
|
| 453 |
-
],
|
| 454 |
-
"manipulating_object_id": [
|
| 455 |
-
"easter_egg_181",
|
| 456 |
-
"easter_egg_181"
|
| 457 |
-
],
|
| 458 |
-
"spatial_prefix": [
|
| 459 |
-
[],
|
| 460 |
-
[
|
| 461 |
-
[],
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
"in_front_of"
|
| 465 |
-
]
|
| 466 |
-
]
|
| 467 |
-
],
|
| 468 |
-
"frame_duration": [
|
| 469 |
-
2820,
|
| 470 |
-
3768
|
| 471 |
-
],
|
| 472 |
-
"skill_idxes": [
|
| 473 |
-
6,
|
| 474 |
-
7,
|
| 475 |
-
8
|
| 476 |
-
]
|
| 477 |
},
|
| 478 |
{
|
| 479 |
"primitive_idx": 3,
|
| 480 |
-
"primitive_id": [
|
| 481 |
-
|
| 482 |
-
|
| 483 |
-
],
|
| 484 |
-
"
|
| 485 |
-
|
| 486 |
-
|
| 487 |
-
]
|
| 488 |
-
"object_id": [
|
| 489 |
-
[
|
| 490 |
-
"easter_egg_180",
|
| 491 |
-
"wicker_basket_178"
|
| 492 |
-
],
|
| 493 |
-
[
|
| 494 |
-
"easter_egg_180",
|
| 495 |
-
"lawn_aztwla_0",
|
| 496 |
-
"tree_dyymaq_2"
|
| 497 |
-
]
|
| 498 |
-
],
|
| 499 |
-
"manipulating_object_id": [
|
| 500 |
-
"easter_egg_180",
|
| 501 |
-
"easter_egg_180"
|
| 502 |
-
],
|
| 503 |
-
"spatial_prefix": [
|
| 504 |
-
[],
|
| 505 |
-
[
|
| 506 |
-
[],
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
"in_front_of"
|
| 510 |
-
]
|
| 511 |
-
]
|
| 512 |
-
],
|
| 513 |
-
"frame_duration": [
|
| 514 |
-
3768,
|
| 515 |
-
4957
|
| 516 |
-
],
|
| 517 |
-
"skill_idxes": [
|
| 518 |
-
9,
|
| 519 |
-
10,
|
| 520 |
-
11
|
| 521 |
-
]
|
| 522 |
}
|
| 523 |
]
|
| 524 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4957,
|
| 6 |
+
"valid_duration": [0, 4957]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1191],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1192, 1547],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1547, 1856],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1857, 2078],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2078, 2659],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2659, 2820],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2820, 2880],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [2880, 3272],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [3272, 3768],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3768, 3816],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [3816, 4357],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [4357, 4957],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2, 1, 3],
|
| 158 |
+
"primitive_description": ["pick up from", "move to", "place on"],
|
| 159 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"], ["tree_dyymaq_2"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": ["wicker_basket_178", [], "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 2078],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [2078, 2820],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [2820, 3768],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [3768, 4957],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00062950.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7002,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
30,
|
| 8 |
-
7032
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
30,
|
| 29 |
-
1804
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
1804,
|
| 56 |
-
2077
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_rrhqpw_2"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
2077,
|
| 80 |
-
3256
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
3256,
|
| 107 |
-
3713
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
3713,
|
| 134 |
-
4396
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_rrhqpw_2"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
4396,
|
| 168 |
-
4923
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
4923,
|
| 192 |
-
5001
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_181",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_181"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
5001,
|
| 219 |
-
5449
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_181",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_rrhqpw_2"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_181"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
5449,
|
| 253 |
-
5977
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
5978,
|
| 277 |
-
6057
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_179",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_179"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
6058,
|
| 304 |
-
6550
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_179",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_rrhqpw_2"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_179"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
6550,
|
| 338 |
-
7032
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_rrhqpw_2"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
3713
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_180",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_180",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_rrhqpw_2"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_180",
|
| 415 |
-
"easter_egg_180"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
3713,
|
| 429 |
-
4923
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_181",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_181",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_rrhqpw_2"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_181",
|
| 459 |
-
"easter_egg_181"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
4923,
|
| 473 |
-
5977
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_179",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_179",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_rrhqpw_2"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_179",
|
| 504 |
-
"easter_egg_179"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
5978,
|
| 518 |
-
7032
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 7002,
|
| 6 |
+
"valid_duration": [30, 7032]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 1804],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1804, 2077],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_rrhqpw_2"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2077, 3256],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3256, 3713],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3713, 4396],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [4396, 4923],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4923, 5001],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5001, 5449],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [5449, 5977],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5978, 6057],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6058, 6550],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [6550, 7032],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_rrhqpw_2"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [30, 3713],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [3713, 4923],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [4923, 5977],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_rrhqpw_2"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [5978, 7032],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|
annotations/task-0006/episode_00063000.json
CHANGED
|
@@ -3,525 +3,198 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4330,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
4330
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"wicker_basket_178"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
772
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"wicker_basket_178",
|
| 47 |
-
"lawn_aztwla_0"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"wicker_basket_178"
|
| 52 |
-
],
|
| 53 |
"spatial_prefix": [],
|
| 54 |
-
"frame_duration": [
|
| 55 |
-
772,
|
| 56 |
-
1326
|
| 57 |
-
],
|
| 58 |
"mp_ef": [],
|
| 59 |
-
"skill_type": [
|
| 60 |
-
"uncoordinated"
|
| 61 |
-
]
|
| 62 |
},
|
| 63 |
{
|
| 64 |
"skill_idx": 2,
|
| 65 |
-
"skill_id": [
|
| 66 |
-
|
| 67 |
-
],
|
| 68 |
-
"skill_description": [
|
| 69 |
-
"move to"
|
| 70 |
-
],
|
| 71 |
-
"object_id": [
|
| 72 |
-
[
|
| 73 |
-
"tree_dyymaq_1"
|
| 74 |
-
]
|
| 75 |
-
],
|
| 76 |
"manipulating_object_id": [],
|
|
|
|
| 77 |
"spatial_prefix": [],
|
| 78 |
-
"frame_duration": [
|
| 79 |
-
1326,
|
| 80 |
-
1463
|
| 81 |
-
],
|
| 82 |
"mp_ef": [],
|
| 83 |
-
"skill_type": [
|
| 84 |
-
"navigation"
|
| 85 |
-
]
|
| 86 |
},
|
| 87 |
{
|
| 88 |
"skill_idx": 3,
|
| 89 |
-
"skill_id": [
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"
|
| 93 |
-
|
| 94 |
-
],
|
| 95 |
-
"object_id": [
|
| 96 |
-
[
|
| 97 |
-
"wicker_basket_178",
|
| 98 |
-
"lawn_aztwla_0"
|
| 99 |
-
]
|
| 100 |
-
],
|
| 101 |
-
"manipulating_object_id": [
|
| 102 |
-
"wicker_basket_178"
|
| 103 |
-
],
|
| 104 |
"spatial_prefix": [],
|
| 105 |
-
"frame_duration": [
|
| 106 |
-
1463,
|
| 107 |
-
1677
|
| 108 |
-
],
|
| 109 |
"mp_ef": [],
|
| 110 |
-
"skill_type": [
|
| 111 |
-
"uncoordinated"
|
| 112 |
-
]
|
| 113 |
},
|
| 114 |
{
|
| 115 |
"skill_idx": 4,
|
| 116 |
-
"skill_id": [
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"
|
| 120 |
-
|
| 121 |
-
],
|
| 122 |
-
"object_id": [
|
| 123 |
-
[
|
| 124 |
-
"easter_egg_180",
|
| 125 |
-
"wicker_basket_178"
|
| 126 |
-
]
|
| 127 |
-
],
|
| 128 |
-
"manipulating_object_id": [
|
| 129 |
-
"easter_egg_180"
|
| 130 |
-
],
|
| 131 |
"spatial_prefix": [],
|
| 132 |
-
"frame_duration": [
|
| 133 |
-
1677,
|
| 134 |
-
2000
|
| 135 |
-
],
|
| 136 |
"mp_ef": [],
|
| 137 |
-
"skill_type": [
|
| 138 |
-
"uncoordinated"
|
| 139 |
-
]
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 5,
|
| 143 |
-
"skill_id": [
|
| 144 |
-
|
| 145 |
-
],
|
| 146 |
-
"
|
| 147 |
-
|
| 148 |
-
],
|
| 149 |
-
"
|
| 150 |
-
[
|
| 151 |
-
"easter_egg_180",
|
| 152 |
-
"lawn_aztwla_0",
|
| 153 |
-
"tree_dyymaq_1"
|
| 154 |
-
]
|
| 155 |
-
],
|
| 156 |
-
"manipulating_object_id": [
|
| 157 |
-
"easter_egg_180"
|
| 158 |
-
],
|
| 159 |
-
"spatial_prefix": [
|
| 160 |
-
[
|
| 161 |
-
"",
|
| 162 |
-
"",
|
| 163 |
-
"in_front_of"
|
| 164 |
-
]
|
| 165 |
-
],
|
| 166 |
-
"frame_duration": [
|
| 167 |
-
2000,
|
| 168 |
-
2483
|
| 169 |
-
],
|
| 170 |
"mp_ef": [],
|
| 171 |
-
"skill_type": [
|
| 172 |
-
"uncoordinated"
|
| 173 |
-
]
|
| 174 |
},
|
| 175 |
{
|
| 176 |
"skill_idx": 6,
|
| 177 |
-
"skill_id": [
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"skill_description": [
|
| 181 |
-
"move to"
|
| 182 |
-
],
|
| 183 |
-
"object_id": [
|
| 184 |
-
[
|
| 185 |
-
"wicker_basket_178"
|
| 186 |
-
]
|
| 187 |
-
],
|
| 188 |
"manipulating_object_id": [],
|
|
|
|
| 189 |
"spatial_prefix": [],
|
| 190 |
-
"frame_duration": [
|
| 191 |
-
2483,
|
| 192 |
-
2505
|
| 193 |
-
],
|
| 194 |
"mp_ef": [],
|
| 195 |
-
"skill_type": [
|
| 196 |
-
"navigation"
|
| 197 |
-
]
|
| 198 |
},
|
| 199 |
{
|
| 200 |
"skill_idx": 7,
|
| 201 |
-
"skill_id": [
|
| 202 |
-
|
| 203 |
-
],
|
| 204 |
-
"
|
| 205 |
-
|
| 206 |
-
],
|
| 207 |
-
"object_id": [
|
| 208 |
-
[
|
| 209 |
-
"easter_egg_179",
|
| 210 |
-
"wicker_basket_178"
|
| 211 |
-
]
|
| 212 |
-
],
|
| 213 |
-
"manipulating_object_id": [
|
| 214 |
-
"easter_egg_179"
|
| 215 |
-
],
|
| 216 |
"spatial_prefix": [],
|
| 217 |
-
"frame_duration": [
|
| 218 |
-
2505,
|
| 219 |
-
2983
|
| 220 |
-
],
|
| 221 |
"mp_ef": [],
|
| 222 |
-
"skill_type": [
|
| 223 |
-
"uncoordinated"
|
| 224 |
-
]
|
| 225 |
},
|
| 226 |
{
|
| 227 |
"skill_idx": 8,
|
| 228 |
-
"skill_id": [
|
| 229 |
-
|
| 230 |
-
],
|
| 231 |
-
"
|
| 232 |
-
|
| 233 |
-
],
|
| 234 |
-
"
|
| 235 |
-
[
|
| 236 |
-
"easter_egg_179",
|
| 237 |
-
"lawn_aztwla_0",
|
| 238 |
-
"tree_dyymaq_1"
|
| 239 |
-
]
|
| 240 |
-
],
|
| 241 |
-
"manipulating_object_id": [
|
| 242 |
-
"easter_egg_179"
|
| 243 |
-
],
|
| 244 |
-
"spatial_prefix": [
|
| 245 |
-
[
|
| 246 |
-
"",
|
| 247 |
-
"",
|
| 248 |
-
"in_front_of"
|
| 249 |
-
]
|
| 250 |
-
],
|
| 251 |
-
"frame_duration": [
|
| 252 |
-
2983,
|
| 253 |
-
3232
|
| 254 |
-
],
|
| 255 |
"mp_ef": [],
|
| 256 |
-
"skill_type": [
|
| 257 |
-
"uncoordinated"
|
| 258 |
-
]
|
| 259 |
},
|
| 260 |
{
|
| 261 |
"skill_idx": 9,
|
| 262 |
-
"skill_id": [
|
| 263 |
-
|
| 264 |
-
],
|
| 265 |
-
"skill_description": [
|
| 266 |
-
"move to"
|
| 267 |
-
],
|
| 268 |
-
"object_id": [
|
| 269 |
-
[
|
| 270 |
-
"wicker_basket_178"
|
| 271 |
-
]
|
| 272 |
-
],
|
| 273 |
"manipulating_object_id": [],
|
|
|
|
| 274 |
"spatial_prefix": [],
|
| 275 |
-
"frame_duration": [
|
| 276 |
-
3232,
|
| 277 |
-
3388
|
| 278 |
-
],
|
| 279 |
"mp_ef": [],
|
| 280 |
-
"skill_type": [
|
| 281 |
-
"navigation"
|
| 282 |
-
]
|
| 283 |
},
|
| 284 |
{
|
| 285 |
"skill_idx": 10,
|
| 286 |
-
"skill_id": [
|
| 287 |
-
|
| 288 |
-
],
|
| 289 |
-
"
|
| 290 |
-
|
| 291 |
-
],
|
| 292 |
-
"object_id": [
|
| 293 |
-
[
|
| 294 |
-
"easter_egg_181",
|
| 295 |
-
"wicker_basket_178"
|
| 296 |
-
]
|
| 297 |
-
],
|
| 298 |
-
"manipulating_object_id": [
|
| 299 |
-
"easter_egg_181"
|
| 300 |
-
],
|
| 301 |
"spatial_prefix": [],
|
| 302 |
-
"frame_duration": [
|
| 303 |
-
3388,
|
| 304 |
-
3748
|
| 305 |
-
],
|
| 306 |
"mp_ef": [],
|
| 307 |
-
"skill_type": [
|
| 308 |
-
"uncoordinated"
|
| 309 |
-
]
|
| 310 |
},
|
| 311 |
{
|
| 312 |
"skill_idx": 11,
|
| 313 |
-
"skill_id": [
|
| 314 |
-
|
| 315 |
-
],
|
| 316 |
-
"
|
| 317 |
-
|
| 318 |
-
],
|
| 319 |
-
"
|
| 320 |
-
[
|
| 321 |
-
"easter_egg_181",
|
| 322 |
-
"lawn_aztwla_0",
|
| 323 |
-
"tree_dyymaq_1"
|
| 324 |
-
]
|
| 325 |
-
],
|
| 326 |
-
"manipulating_object_id": [
|
| 327 |
-
"easter_egg_181"
|
| 328 |
-
],
|
| 329 |
-
"spatial_prefix": [
|
| 330 |
-
[
|
| 331 |
-
"",
|
| 332 |
-
"",
|
| 333 |
-
"in_front_of"
|
| 334 |
-
]
|
| 335 |
-
],
|
| 336 |
-
"frame_duration": [
|
| 337 |
-
3748,
|
| 338 |
-
4330
|
| 339 |
-
],
|
| 340 |
"mp_ef": [],
|
| 341 |
-
"skill_type": [
|
| 342 |
-
"uncoordinated"
|
| 343 |
-
]
|
| 344 |
}
|
| 345 |
],
|
| 346 |
"primitive_annotation": [
|
| 347 |
{
|
| 348 |
"primitive_idx": 0,
|
| 349 |
-
"primitive_id": [
|
| 350 |
-
|
| 351 |
-
|
| 352 |
-
|
| 353 |
-
],
|
| 354 |
-
"primitive_description": [
|
| 355 |
-
"move to",
|
| 356 |
-
"pick up from",
|
| 357 |
-
"place on"
|
| 358 |
-
],
|
| 359 |
-
"object_id": [
|
| 360 |
-
[
|
| 361 |
-
[
|
| 362 |
-
"wicker_basket_178",
|
| 363 |
-
"tree_dyymaq_1"
|
| 364 |
-
]
|
| 365 |
-
],
|
| 366 |
-
[
|
| 367 |
-
"wicker_basket_178",
|
| 368 |
-
"lawn_aztwla_0"
|
| 369 |
-
],
|
| 370 |
-
[
|
| 371 |
-
"wicker_basket_178",
|
| 372 |
-
"lawn_aztwla_0"
|
| 373 |
-
]
|
| 374 |
-
],
|
| 375 |
-
"manipulating_object_id": [
|
| 376 |
-
[],
|
| 377 |
-
"wicker_basket_178",
|
| 378 |
-
"wicker_basket_178"
|
| 379 |
-
],
|
| 380 |
"spatial_prefix": [],
|
| 381 |
-
"frame_duration": [
|
| 382 |
-
|
| 383 |
-
1677
|
| 384 |
-
],
|
| 385 |
-
"skill_idxes": [
|
| 386 |
-
0,
|
| 387 |
-
1,
|
| 388 |
-
2,
|
| 389 |
-
3
|
| 390 |
-
]
|
| 391 |
},
|
| 392 |
{
|
| 393 |
"primitive_idx": 1,
|
| 394 |
-
"primitive_id": [
|
| 395 |
-
|
| 396 |
-
|
| 397 |
-
],
|
| 398 |
-
"
|
| 399 |
-
|
| 400 |
-
|
| 401 |
-
]
|
| 402 |
-
"object_id": [
|
| 403 |
-
[
|
| 404 |
-
"easter_egg_180",
|
| 405 |
-
"wicker_basket_178"
|
| 406 |
-
],
|
| 407 |
-
[
|
| 408 |
-
"easter_egg_180",
|
| 409 |
-
"lawn_aztwla_0",
|
| 410 |
-
"tree_dyymaq_1"
|
| 411 |
-
]
|
| 412 |
-
],
|
| 413 |
-
"manipulating_object_id": [
|
| 414 |
-
"easter_egg_180",
|
| 415 |
-
"easter_egg_180"
|
| 416 |
-
],
|
| 417 |
-
"spatial_prefix": [
|
| 418 |
-
[],
|
| 419 |
-
[
|
| 420 |
-
[],
|
| 421 |
-
[],
|
| 422 |
-
[
|
| 423 |
-
"in_front_of"
|
| 424 |
-
]
|
| 425 |
-
]
|
| 426 |
-
],
|
| 427 |
-
"frame_duration": [
|
| 428 |
-
1677,
|
| 429 |
-
2483
|
| 430 |
-
],
|
| 431 |
-
"skill_idxes": [
|
| 432 |
-
4,
|
| 433 |
-
5
|
| 434 |
-
]
|
| 435 |
},
|
| 436 |
{
|
| 437 |
"primitive_idx": 2,
|
| 438 |
-
"primitive_id": [
|
| 439 |
-
|
| 440 |
-
|
| 441 |
-
],
|
| 442 |
-
"
|
| 443 |
-
|
| 444 |
-
|
| 445 |
-
]
|
| 446 |
-
"object_id": [
|
| 447 |
-
[
|
| 448 |
-
"easter_egg_179",
|
| 449 |
-
"wicker_basket_178"
|
| 450 |
-
],
|
| 451 |
-
[
|
| 452 |
-
"easter_egg_179",
|
| 453 |
-
"lawn_aztwla_0",
|
| 454 |
-
"tree_dyymaq_1"
|
| 455 |
-
]
|
| 456 |
-
],
|
| 457 |
-
"manipulating_object_id": [
|
| 458 |
-
"easter_egg_179",
|
| 459 |
-
"easter_egg_179"
|
| 460 |
-
],
|
| 461 |
-
"spatial_prefix": [
|
| 462 |
-
[],
|
| 463 |
-
[
|
| 464 |
-
[],
|
| 465 |
-
[],
|
| 466 |
-
[
|
| 467 |
-
"in_front_of"
|
| 468 |
-
]
|
| 469 |
-
]
|
| 470 |
-
],
|
| 471 |
-
"frame_duration": [
|
| 472 |
-
2483,
|
| 473 |
-
3232
|
| 474 |
-
],
|
| 475 |
-
"skill_idxes": [
|
| 476 |
-
6,
|
| 477 |
-
7,
|
| 478 |
-
8
|
| 479 |
-
]
|
| 480 |
},
|
| 481 |
{
|
| 482 |
"primitive_idx": 3,
|
| 483 |
-
"primitive_id": [
|
| 484 |
-
|
| 485 |
-
|
| 486 |
-
],
|
| 487 |
-
"
|
| 488 |
-
|
| 489 |
-
|
| 490 |
-
]
|
| 491 |
-
"object_id": [
|
| 492 |
-
[
|
| 493 |
-
"easter_egg_181",
|
| 494 |
-
"wicker_basket_178"
|
| 495 |
-
],
|
| 496 |
-
[
|
| 497 |
-
"easter_egg_181",
|
| 498 |
-
"lawn_aztwla_0",
|
| 499 |
-
"tree_dyymaq_1"
|
| 500 |
-
]
|
| 501 |
-
],
|
| 502 |
-
"manipulating_object_id": [
|
| 503 |
-
"easter_egg_181",
|
| 504 |
-
"easter_egg_181"
|
| 505 |
-
],
|
| 506 |
-
"spatial_prefix": [
|
| 507 |
-
[],
|
| 508 |
-
[
|
| 509 |
-
[],
|
| 510 |
-
[],
|
| 511 |
-
[
|
| 512 |
-
"in_front_of"
|
| 513 |
-
]
|
| 514 |
-
]
|
| 515 |
-
],
|
| 516 |
-
"frame_duration": [
|
| 517 |
-
3232,
|
| 518 |
-
4330
|
| 519 |
-
],
|
| 520 |
-
"skill_idxes": [
|
| 521 |
-
9,
|
| 522 |
-
10,
|
| 523 |
-
11
|
| 524 |
-
]
|
| 525 |
}
|
| 526 |
]
|
| 527 |
}
|
|
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 4330,
|
| 6 |
+
"valid_duration": [0, 4330]
|
|
|
|
|
|
|
|
|
|
| 7 |
},
|
| 8 |
"skill_annotation": [
|
| 9 |
{
|
| 10 |
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 14 |
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 772],
|
|
|
|
|
|
|
|
|
|
| 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": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 26 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 27 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 28 |
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [772, 1326],
|
|
|
|
|
|
|
|
|
|
| 30 |
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 32 |
},
|
| 33 |
{
|
| 34 |
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["tree_dyymaq_1"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 38 |
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1326, 1463],
|
|
|
|
|
|
|
|
|
|
| 42 |
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 44 |
},
|
| 45 |
{
|
| 46 |
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["wicker_basket_178", "lawn_aztwla_0"]],
|
| 50 |
+
"manipulating_object_id": ["wicker_basket_178"],
|
| 51 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 52 |
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1463, 1677],
|
|
|
|
|
|
|
|
|
|
| 54 |
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 56 |
},
|
| 57 |
{
|
| 58 |
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"]],
|
| 62 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 63 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 64 |
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1677, 2000],
|
|
|
|
|
|
|
|
|
|
| 66 |
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 68 |
},
|
| 69 |
{
|
| 70 |
"skill_idx": 5,
|
| 71 |
+
"skill_id": [91],
|
| 72 |
+
"skill_description": ["place on next to"],
|
| 73 |
+
"object_id": [["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 74 |
+
"manipulating_object_id": ["easter_egg_180"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 77 |
+
"frame_duration": [2000, 2483],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 78 |
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 80 |
},
|
| 81 |
{
|
| 82 |
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2483, 2505],
|
|
|
|
|
|
|
|
|
|
| 90 |
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 92 |
},
|
| 93 |
{
|
| 94 |
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"]],
|
| 98 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 100 |
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [2505, 2983],
|
|
|
|
|
|
|
|
|
|
| 102 |
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 104 |
},
|
| 105 |
{
|
| 106 |
"skill_idx": 8,
|
| 107 |
+
"skill_id": [91],
|
| 108 |
+
"skill_description": ["place on next to"],
|
| 109 |
+
"object_id": [["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 110 |
+
"manipulating_object_id": ["easter_egg_179"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 113 |
+
"frame_duration": [2983, 3232],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [1],
|
| 120 |
+
"skill_description": ["move to"],
|
| 121 |
+
"object_id": [["wicker_basket_178"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 122 |
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": ["back"],
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3232, 3388],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [2],
|
| 132 |
+
"skill_description": ["pick up from"],
|
| 133 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"]],
|
| 134 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 135 |
+
"memory_prefix": ["the other"],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [3388, 3748],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [91],
|
| 144 |
+
"skill_description": ["place on next to"],
|
| 145 |
+
"object_id": [["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 146 |
+
"manipulating_object_id": ["easter_egg_181"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [["", "", "in_front_of"]],
|
| 149 |
+
"frame_duration": [3748, 4330],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 150 |
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 152 |
}
|
| 153 |
],
|
| 154 |
"primitive_annotation": [
|
| 155 |
{
|
| 156 |
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [1, 2, 3],
|
| 158 |
+
"primitive_description": ["move to", "pick up from", "place on"],
|
| 159 |
+
"object_id": [[["wicker_basket_178", "tree_dyymaq_1"]], ["wicker_basket_178", "lawn_aztwla_0"], ["wicker_basket_178", "lawn_aztwla_0"]],
|
| 160 |
+
"manipulating_object_id": [[], "wicker_basket_178", "wicker_basket_178"],
|
| 161 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 162 |
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1677],
|
| 164 |
+
"skill_idxes": [0, 1, 2, 3]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 165 |
},
|
| 166 |
{
|
| 167 |
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 91],
|
| 169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 170 |
+
"object_id": [["easter_egg_180", "wicker_basket_178"], ["easter_egg_180", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 171 |
+
"manipulating_object_id": ["easter_egg_180", "easter_egg_180"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 174 |
+
"frame_duration": [1677, 2483],
|
| 175 |
+
"skill_idxes": [4, 5]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 176 |
},
|
| 177 |
{
|
| 178 |
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 91],
|
| 180 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 181 |
+
"object_id": [["easter_egg_179", "wicker_basket_178"], ["easter_egg_179", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 182 |
+
"manipulating_object_id": ["easter_egg_179", "easter_egg_179"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 185 |
+
"frame_duration": [2483, 3232],
|
| 186 |
+
"skill_idxes": [6, 7, 8]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 187 |
},
|
| 188 |
{
|
| 189 |
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 91],
|
| 191 |
+
"primitive_description": ["pick up from", "place on next to"],
|
| 192 |
+
"object_id": [["easter_egg_181", "wicker_basket_178"], ["easter_egg_181", "lawn_aztwla_0", "tree_dyymaq_1"]],
|
| 193 |
+
"manipulating_object_id": ["easter_egg_181", "easter_egg_181"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [[], [[], [], ["in_front_of"]]],
|
| 196 |
+
"frame_duration": [3232, 4330],
|
| 197 |
+
"skill_idxes": [9, 10, 11]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 198 |
}
|
| 199 |
]
|
| 200 |
}
|