2025-challenge-demos / annotations /task-0033 /episode_00330090.json
elonelonelon's picture
Duplicate from behavior-1k/2025-challenge-demos
1e4d024 verified
{
"task_name": "wash dog toys",
"data_folder": "",
"meta_data": {
"task_duration": 10389,
"valid_duration": [61, 10450]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [61, 285],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 1,
"skill_id": [10],
"skill_description": ["open door"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [285, 1630],
"mp_ef": [],
"skill_type": ["coordinated"]
},
{
"skill_idx": 2,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [1630, 2241],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 3,
"skill_id": [10],
"skill_description": ["open door"],
"object_id": [["bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [["left_door"]],
"frame_duration": [2241, 2966],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 4,
"skill_id": [10],
"skill_description": ["open door"],
"object_id": [["bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [["right_door"]],
"frame_duration": [2966, 3870],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 5,
"skill_id": [90],
"skill_description": ["push to"],
"object_id": [["teddy_bear_190", "bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": ["teddy_bear_190"],
"memory_prefix": [],
"spatial_prefix": [["", "reorient"]],
"frame_duration": [3870, 4248],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 6,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["teddy_bear_190", "bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": ["teddy_bear_190"],
"memory_prefix": [],
"spatial_prefix": [["", "high_level"]],
"frame_duration": [4248, 4532],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 7,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["softball_188", "bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": ["softball_188"],
"memory_prefix": [],
"spatial_prefix": [["", "middle_level"]],
"frame_duration": [4533, 4938],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 8,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [4938, 5349],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 9,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["teddy_bear_190", "washer_ynwamu_0"]],
"manipulating_object_id": ["teddy_bear_190"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [5350, 5885],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 10,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["softball_188", "washer_ynwamu_0"]],
"manipulating_object_id": ["softball_188"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [5885, 6477],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 11,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["tennis_ball_189"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [6477, 6882],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 12,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tennis_ball_189", "bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": ["tennis_ball_189"],
"memory_prefix": [],
"spatial_prefix": [["", "middle_level"]],
"frame_duration": [6882, 7242],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 13,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["teddy_bear_191", "bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": ["teddy_bear_191"],
"memory_prefix": ["the other"],
"spatial_prefix": [["", "middle_level"]],
"frame_duration": [7242, 7634],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 14,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [7634, 7952],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 15,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["teddy_bear_191", "washer_ynwamu_0"]],
"manipulating_object_id": ["teddy_bear_191"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [7952, 8648],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 16,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["tennis_ball_189", "washer_ynwamu_0"]],
"manipulating_object_id": ["tennis_ball_189"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [8649, 9155],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 17,
"skill_id": [12],
"skill_description": ["close door"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [9186, 9642],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 18,
"skill_id": [69],
"skill_description": ["turn on switch"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": ["washer_ynwamu_0"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [9642, 10450],
"mp_ef": [],
"skill_type": ["uncoordinated"]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [10],
"primitive_description": ["open door"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [61, 1630],
"skill_idxes": [0, 1]
},
{
"primitive_idx": 1,
"primitive_id": [10],
"primitive_description": ["open door"],
"object_id": [["bottom_cabinet_no_top_gjrero_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [[["left_door", "right_door"]]],
"frame_duration": [1630, 3870],
"skill_idxes": [2, 3, 4]
},
{
"primitive_idx": 2,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [[["teddy_bear_190", "softball_188"], "bottom_cabinet_no_top_gjrero_0"], [["teddy_bear_190", "softball_188"], "washer_ynwamu_0"]],
"manipulating_object_id": [["teddy_bear_190", "softball_188"], ["teddy_bear_190", "softball_188"]],
"memory_prefix": [],
"spatial_prefix": [[[], ["high_level", "middle_level"]], []],
"frame_duration": [3870, 6477],
"skill_idxes": [5, 6, 7, 8, 9, 10]
},
{
"primitive_idx": 3,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [[["tennis_ball_189", "teddy_bear_191"], "bottom_cabinet_no_top_gjrero_0"], [["teddy_bear_191", "tennis_ball_189"], "washer_ynwamu_0"]],
"manipulating_object_id": [["tennis_ball_189", "teddy_bear_191"], ["teddy_bear_191", "tennis_ball_189"]],
"memory_prefix": [],
"spatial_prefix": [[[], ["middle_level", "middle_level"]], []],
"frame_duration": [6477, 9155],
"skill_idxes": [11, 12, 13, 14, 15, 16]
},
{
"primitive_idx": 4,
"primitive_id": [12],
"primitive_description": ["close door"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [9186, 9642],
"skill_idxes": [17]
},
{
"primitive_idx": 5,
"primitive_id": [69],
"primitive_description": ["turn on switch"],
"object_id": [["washer_ynwamu_0"]],
"manipulating_object_id": ["washer_ynwamu_0"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [9642, 10450],
"skill_idxes": [18]
}
]
}