2025-challenge-demos / annotations /task-0047 /episode_00470190.json
elonelonelon's picture
Duplicate from behavior-1k/2025-challenge-demos
1e4d024 verified
{
"task_name": "freeze pies",
"data_folder": "",
"meta_data": {
"task_duration": 11760,
"valid_duration": [0, 11760]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["bottom_cabinet_no_top_gjeoer_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [0, 573],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 1,
"skill_id": [10],
"skill_description": ["open door"],
"object_id": [["bottom_cabinet_no_top_gjeoer_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [["second_right_door"]],
"frame_duration": [573, 1833],
"mp_ef": [],
"skill_type": ["coordinated"]
},
{
"skill_idx": 2,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]],
"manipulating_object_id": ["tupperware_230"],
"memory_prefix": [],
"spatial_prefix": [["", "high_level"]],
"frame_duration": [1833, 2760],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 3,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]],
"manipulating_object_id": ["tupperware_231"],
"memory_prefix": ["the other"],
"spatial_prefix": [["", "high_level"]],
"frame_duration": [2760, 3246],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 4,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["countertop_kelzer_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [3246, 3576],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 5,
"skill_id": [3],
"skill_description": ["place on"],
"object_id": [["tupperware_230", "countertop_kelzer_0"]],
"manipulating_object_id": ["tupperware_230"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [3576, 3855],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 6,
"skill_id": [3],
"skill_description": ["place on"],
"object_id": [["tupperware_231", "countertop_kelzer_0"]],
"manipulating_object_id": ["tupperware_231"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [3855, 4005],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 7,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["bottom_cabinet_no_top_gjeoer_0"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [4005, 4329],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 8,
"skill_id": [12],
"skill_description": ["close door"],
"object_id": [["bottom_cabinet_no_top_gjeoer_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [["second_right_door"]],
"frame_duration": [4329, 4869],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 9,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["apple_pie_235"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4869, 5160],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 10,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["apple_pie_235", "plate_233"]],
"manipulating_object_id": ["apple_pie_235"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [5160, 5790],
"mp_ef": [],
"skill_type": ["coordinated"]
},
{
"skill_idx": 11,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["apple_pie_235", "tupperware_231"]],
"manipulating_object_id": ["apple_pie_235"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [5790, 5907],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 12,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["apple_pie_234"]],
"manipulating_object_id": [],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [5907, 5976],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 13,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["apple_pie_234", "plate_232"]],
"manipulating_object_id": ["apple_pie_234"],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [5976, 6492],
"mp_ef": [],
"skill_type": ["coordinated"]
},
{
"skill_idx": 14,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["apple_pie_234", "tupperware_230"]],
"manipulating_object_id": ["apple_pie_234"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [6495, 6645],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 15,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["fridge_dszchb_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [6645, 7293],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 16,
"skill_id": [10],
"skill_description": ["open door"],
"object_id": [["fridge_dszchb_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [7293, 8448],
"mp_ef": [],
"skill_type": ["coordinated"]
},
{
"skill_idx": 17,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["tupperware_231"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [8448, 8976],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 18,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tupperware_231", "countertop_kelzer_0"]],
"manipulating_object_id": ["tupperware_231"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [8976, 9246],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 19,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["tupperware_230"]],
"manipulating_object_id": [],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [9246, 9273],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 20,
"skill_id": [2],
"skill_description": ["pick up from"],
"object_id": [["tupperware_230", "countertop_kelzer_0"]],
"manipulating_object_id": ["tupperware_230"],
"memory_prefix": ["the other"],
"spatial_prefix": [],
"frame_duration": [9273, 9459],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 21,
"skill_id": [1],
"skill_description": ["move to"],
"object_id": [["fridge_dszchb_0"]],
"manipulating_object_id": [],
"memory_prefix": ["back"],
"spatial_prefix": [],
"frame_duration": [9459, 10347],
"mp_ef": [],
"skill_type": ["navigation"]
},
{
"skill_idx": 22,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["tupperware_231", "fridge_dszchb_0"]],
"manipulating_object_id": ["tupperware_231"],
"memory_prefix": [],
"spatial_prefix": [["", "middle_level"]],
"frame_duration": [10347, 10599],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 23,
"skill_id": [4],
"skill_description": ["place in"],
"object_id": [["tupperware_230", "fridge_dszchb_0"]],
"manipulating_object_id": ["tupperware_230"],
"memory_prefix": [],
"spatial_prefix": [["", "high_level"]],
"frame_duration": [10599, 11133],
"mp_ef": [],
"skill_type": ["uncoordinated"]
},
{
"skill_idx": 24,
"skill_id": [12],
"skill_description": ["close door"],
"object_id": [["fridge_dszchb_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [11133, 11760],
"mp_ef": [],
"skill_type": ["uncoordinated"]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [10],
"primitive_description": ["open door"],
"object_id": [["bottom_cabinet_no_top_gjeoer_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [[["second_right_door"]]],
"frame_duration": [0, 1833],
"skill_idxes": [0, 1]
},
{
"primitive_idx": 1,
"primitive_id": [2, 3],
"primitive_description": ["pick up from", "place on"],
"object_id": [[["tupperware_230", "tupperware_231"], "bottom_cabinet_no_top_gjeoer_0"], [["tupperware_230", "tupperware_231"], "countertop_kelzer_0"]],
"manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]],
"memory_prefix": [],
"spatial_prefix": [[[], ["high_level", "high_level"]], []],
"frame_duration": [1833, 4005],
"skill_idxes": [2, 3, 4, 5, 6]
},
{
"primitive_idx": 2,
"primitive_id": [12],
"primitive_description": ["close door"],
"object_id": [["bottom_cabinet_no_top_gjeoer_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [[["second_right_door"]]],
"frame_duration": [4005, 4869],
"skill_idxes": [7, 8]
},
{
"primitive_idx": 3,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]],
"manipulating_object_id": ["apple_pie_235", "apple_pie_235"],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [4869, 5907],
"skill_idxes": [9, 10, 11]
},
{
"primitive_idx": 4,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]],
"manipulating_object_id": ["apple_pie_234", "apple_pie_234"],
"memory_prefix": ["the other", ""],
"spatial_prefix": [],
"frame_duration": [5907, 6645],
"skill_idxes": [12, 13, 14]
},
{
"primitive_idx": 5,
"primitive_id": [10],
"primitive_description": ["open door"],
"object_id": [["fridge_dszchb_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [6645, 8448],
"skill_idxes": [15, 16]
},
{
"primitive_idx": 6,
"primitive_id": [2, 4],
"primitive_description": ["pick up from", "place in"],
"object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]],
"manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]],
"memory_prefix": [],
"spatial_prefix": [[], [[], ["middle_level", "high_level"]]],
"frame_duration": [8448, 11133],
"skill_idxes": [17, 18, 19, 20, 21, 22, 23]
},
{
"primitive_idx": 7,
"primitive_id": [12],
"primitive_description": ["close door"],
"object_id": [["fridge_dszchb_0"]],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [11133, 11760],
"skill_idxes": [24]
}
]
}