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- annotations/episode_00000004.json +93 -0
- annotations/episode_00000005.json +93 -0
- annotations/episode_00000007.json +93 -0
- annotations/episode_00000014.json +93 -0
- annotations/episode_00000016.json +93 -0
- annotations/episode_00000018.json +93 -0
- annotations/episode_00000019.json +93 -0
- annotations/episode_00000020.json +93 -0
- annotations/episode_00000021.json +93 -0
- annotations/episode_00000022.json +93 -0
- annotations/episode_00000023.json +93 -0
- annotations/episode_00000026.json +93 -0
- annotations/episode_00000027.json +93 -0
- annotations/episode_00000030.json +93 -0
- annotations/episode_00000031.json +93 -0
- annotations/episode_00000032.json +93 -0
- annotations/episode_00000034.json +93 -0
- annotations/episode_00000043.json +93 -0
- annotations/episode_00000045.json +93 -0
- annotations/episode_00000046.json +93 -0
- annotations/episode_00000049.json +93 -0
- annotations/episode_00000050.json +93 -0
- annotations/episode_00000055.json +93 -0
- annotations/episode_00000057.json +93 -0
- annotations/episode_00000058.json +93 -0
- annotations/episode_00000063.json +93 -0
- annotations/episode_00000071.json +93 -0
- annotations/episode_00000076.json +93 -0
- annotations/episode_00000084.json +93 -0
- annotations/episode_00000085.json +93 -0
- annotations/episode_00000087.json +93 -0
- annotations/episode_00000091.json +93 -0
- annotations/episode_00000095.json +93 -0
- annotations/episode_00000099.json +93 -0
- annotations/episode_00000104.json +93 -0
- annotations/episode_00000107.json +93 -0
- annotations/episode_00000108.json +93 -0
- annotations/episode_00000114.json +93 -0
- annotations/episode_00000115.json +93 -0
- annotations/episode_00000117.json +93 -0
- annotations/episode_00000118.json +93 -0
- annotations/episode_00000120.json +93 -0
- annotations/episode_00000121.json +93 -0
- annotations/episode_00000122.json +93 -0
- annotations/episode_00000125.json +93 -0
- annotations/episode_00000128.json +93 -0
- annotations/episode_00000131.json +93 -0
- annotations/episode_00000132.json +93 -0
- annotations/episode_00000151.json +93 -0
- annotations/episode_00000152.json +93 -0
annotations/episode_00000004.json
ADDED
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{
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"task_name": "turning on radio",
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"data_folder": "",
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"meta_data": {
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"task_duration": 1839,
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"valid_duration": [0, 1839]
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},
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"skill_annotation": [
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{
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| 10 |
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"skill_idx": 0,
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| 11 |
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"skill_id": [1],
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["radio_89"]],
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| 14 |
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"manipulating_object_id": [],
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| 15 |
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"memory_prefix": [],
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| 16 |
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"spatial_prefix": [],
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"frame_duration": [0, 308],
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"mp_ef": [],
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"skill_type": ["navigation"]
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [2],
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| 24 |
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"skill_description": ["pick up from"],
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| 25 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 26 |
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [308, 1118],
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"mp_ef": [],
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"skill_type": ["uncoordinated"]
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},
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{
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"skill_idx": 2,
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| 35 |
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"skill_id": [67],
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"skill_description": ["press"],
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"object_id": [["radio_89"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [1123, 1368],
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"mp_ef": [],
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"skill_type": ["coordinated"]
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},
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{
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| 46 |
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"skill_idx": 3,
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| 47 |
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"skill_id": [3],
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| 48 |
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"skill_description": ["place on"],
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| 49 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 50 |
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"manipulating_object_id": ["radio_89"],
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| 51 |
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"memory_prefix": ["back"],
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| 52 |
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| 53 |
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"frame_duration": [1369, 1839],
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"mp_ef": [],
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"skill_type": ["uncoordinated"]
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}
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],
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"primitive_annotation": [
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{
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| 60 |
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"primitive_idx": 0,
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"primitive_id": [2],
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| 62 |
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"primitive_description": ["pick up from"],
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| 63 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 64 |
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [0, 1118],
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{
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"primitive_idx": 1,
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"primitive_id": [67],
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| 73 |
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"primitive_description": ["press"],
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| 74 |
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"object_id": [["radio_89"]],
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| 75 |
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"manipulating_object_id": ["radio_89"],
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| 76 |
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"memory_prefix": [],
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| 77 |
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"spatial_prefix": [],
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"frame_duration": [1123, 1368],
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"skill_idxes": [2]
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},
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| 81 |
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{
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| 82 |
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"primitive_idx": 2,
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| 83 |
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"primitive_id": [3],
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| 84 |
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"primitive_description": ["place on"],
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| 85 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 86 |
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"manipulating_object_id": ["radio_89"],
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| 87 |
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"memory_prefix": ["back"],
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| 88 |
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"spatial_prefix": [],
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| 89 |
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"frame_duration": [1369, 1839],
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| 90 |
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"skill_idxes": [3]
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| 91 |
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}
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| 92 |
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]
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| 93 |
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}
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annotations/episode_00000005.json
ADDED
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@@ -0,0 +1,93 @@
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{
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| 2 |
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"task_name": "turning on radio",
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| 3 |
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"data_folder": "",
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| 4 |
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"meta_data": {
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| 5 |
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"task_duration": 1484,
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| 6 |
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"valid_duration": [0, 1484]
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| 7 |
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| 8 |
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"skill_annotation": [
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| 9 |
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{
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| 10 |
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| 11 |
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["radio_89"]],
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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"frame_duration": [0, 360],
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| 18 |
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| 19 |
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"skill_type": ["navigation"]
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| 20 |
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| 21 |
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [2],
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| 24 |
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"skill_description": ["pick up from"],
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| 25 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 26 |
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"manipulating_object_id": ["radio_89"],
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| 27 |
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"memory_prefix": [],
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| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [360, 1021],
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| 30 |
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"mp_ef": [],
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| 31 |
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"skill_type": ["uncoordinated"]
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| 32 |
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},
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| 33 |
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{
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| 34 |
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"skill_idx": 2,
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| 35 |
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"skill_id": [67],
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| 36 |
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"skill_description": ["press"],
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| 37 |
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"object_id": [["radio_89"]],
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| 38 |
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"manipulating_object_id": ["radio_89"],
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| 39 |
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"memory_prefix": [],
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| 40 |
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [1021, 1166],
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| 42 |
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"mp_ef": [],
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| 43 |
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"skill_type": ["coordinated"]
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| 44 |
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},
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| 45 |
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{
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| 46 |
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"skill_idx": 3,
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| 47 |
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"skill_id": [3],
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| 48 |
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"skill_description": ["place on"],
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| 49 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 50 |
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"manipulating_object_id": ["radio_89"],
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| 51 |
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"spatial_prefix": [],
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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],
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"primitive_annotation": [
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| 59 |
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{
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| 60 |
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| 61 |
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| 62 |
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"primitive_description": ["pick up from"],
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| 63 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 64 |
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"manipulating_object_id": ["radio_89"],
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| 65 |
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"memory_prefix": [],
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| 66 |
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"spatial_prefix": [],
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| 67 |
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"frame_duration": [0, 1021],
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| 68 |
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| 69 |
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},
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| 70 |
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{
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"primitive_idx": 1,
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| 72 |
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"primitive_id": [67],
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| 73 |
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"primitive_description": ["press"],
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| 74 |
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"object_id": [["radio_89"]],
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| 75 |
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"manipulating_object_id": ["radio_89"],
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| 76 |
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"memory_prefix": [],
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| 77 |
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"spatial_prefix": [],
|
| 78 |
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"frame_duration": [1021, 1166],
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| 79 |
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"skill_idxes": [2]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"primitive_idx": 2,
|
| 83 |
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"primitive_id": [3],
|
| 84 |
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"primitive_description": ["place on"],
|
| 85 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 86 |
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"manipulating_object_id": ["radio_89"],
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| 87 |
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"memory_prefix": ["back"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [1166, 1484],
|
| 90 |
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"skill_idxes": [3]
|
| 91 |
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}
|
| 92 |
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]
|
| 93 |
+
}
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annotations/episode_00000007.json
ADDED
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@@ -0,0 +1,93 @@
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| 1 |
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{
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| 2 |
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"task_name": "turning on radio",
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| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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"task_duration": 2253,
|
| 6 |
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"valid_duration": [0, 2253]
|
| 7 |
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},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["radio_89"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
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"frame_duration": [0, 320],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
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"manipulating_object_id": ["radio_89"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [],
|
| 29 |
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"frame_duration": [320, 1479],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [67],
|
| 36 |
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"skill_description": ["press"],
|
| 37 |
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"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1479, 1662],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1662, 2253],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1479],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1479, 1662],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1662, 2253],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000014.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1985,
|
| 6 |
+
"valid_duration": [6, 1991]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [6, 1033],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1034, 1601],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1601, 1802],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1803, 1991],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [6, 1601],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1601, 1802],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1803, 1991],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000016.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2604,
|
| 6 |
+
"valid_duration": [0, 2604]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 702],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [702, 2003],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2003, 2405],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2405, 2604],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2003],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2003, 2405],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2405, 2604],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000018.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1860,
|
| 6 |
+
"valid_duration": [0, 1860]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 521],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [567, 1354],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1355, 1679],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1679, 1860],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1354],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1355, 1679],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1679, 1860],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000019.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2190,
|
| 6 |
+
"valid_duration": [0, 2190]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 424],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [424, 1413],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1413, 1902],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1902, 2190],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1413],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1413, 1902],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1902, 2190],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000020.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2399,
|
| 6 |
+
"valid_duration": [0, 2399]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 530],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [531, 1992],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1992, 2257],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2257, 2399],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1992],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1992, 2257],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2257, 2399],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000021.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1774,
|
| 6 |
+
"valid_duration": [0, 1774]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 682],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [682, 1294],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1294, 1477],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1478, 1774],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1294],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1294, 1477],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1478, 1774],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000022.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2353,
|
| 6 |
+
"valid_duration": [24, 2377]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [24, 816],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [816, 1712],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1712, 2071],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2072, 2377],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
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"frame_duration": [24, 1712],
|
| 68 |
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"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
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{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1712, 2071],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2072, 2377],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000023.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1896,
|
| 6 |
+
"valid_duration": [0, 1896]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 538],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [538, 1348],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1348, 1621],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1621, 1896],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1348],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1348, 1621],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1621, 1896],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000026.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2133,
|
| 6 |
+
"valid_duration": [0, 2133]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 833],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [839, 1496],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1496, 1868],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1868, 2133],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1496],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1496, 1868],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1868, 2133],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000027.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1785,
|
| 6 |
+
"valid_duration": [0, 1785]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 525],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [525, 1197],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1197, 1417],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1417, 1785],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1197],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1197, 1417],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1417, 1785],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000030.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1696,
|
| 6 |
+
"valid_duration": [0, 1696]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 306],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [306, 1165],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1165, 1464],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1465, 1696],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1165],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1165, 1464],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1465, 1696],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000031.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2545,
|
| 6 |
+
"valid_duration": [0, 2545]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 789],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [789, 1729],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1729, 2094],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2094, 2545],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1729],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1729, 2094],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2094, 2545],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000032.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2565,
|
| 6 |
+
"valid_duration": [0, 2565]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 779],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [850, 2052],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2052, 2261],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2261, 2565],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2052],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2052, 2261],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2261, 2565],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000034.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1608,
|
| 6 |
+
"valid_duration": [0, 1608]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 371],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [371, 1036],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1036, 1280],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1280, 1608],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1036],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1036, 1280],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1280, 1608],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000043.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2121,
|
| 6 |
+
"valid_duration": [0, 2121]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 629],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [630, 1513],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1513, 1719],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1719, 2121],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1513],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1513, 1719],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1719, 2121],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000045.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1470,
|
| 6 |
+
"valid_duration": [30, 1500]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 398],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [399, 1017],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1018, 1240],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1240, 1500],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [30, 1017],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1018, 1240],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1240, 1500],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000046.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2497,
|
| 6 |
+
"valid_duration": [0, 2497]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 766],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1186, 1732],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1732, 2082],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2082, 2497],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1732],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1732, 2082],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2082, 2497],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000049.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2604,
|
| 6 |
+
"valid_duration": [0, 2604]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1065],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1109, 1882],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1882, 2225],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2226, 2604],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1882],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1882, 2225],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2226, 2604],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000050.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1908,
|
| 6 |
+
"valid_duration": [0, 1908]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 452],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [452, 1211],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1211, 1495],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1495, 1908],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1211],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1211, 1495],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1495, 1908],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000055.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2053,
|
| 6 |
+
"valid_duration": [0, 2053]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 467],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [467, 1493],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1493, 1755],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1756, 2053],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1493],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1493, 1755],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1756, 2053],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000057.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2375,
|
| 6 |
+
"valid_duration": [40, 2415]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [40, 545],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [590, 1670],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1670, 1976],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1976, 2415],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [40, 1670],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1670, 1976],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1976, 2415],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000058.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2573,
|
| 6 |
+
"valid_duration": [0, 2573]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 862],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [862, 1649],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1649, 2050],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2050, 2573],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1649],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1649, 2050],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2050, 2573],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000063.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1990,
|
| 6 |
+
"valid_duration": [0, 1990]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 657],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [658, 1535],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1535, 1727],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1729, 1990],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1535],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1535, 1727],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1729, 1990],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000071.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2065,
|
| 6 |
+
"valid_duration": [0, 2065]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 317],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [318, 1033],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1033, 1394],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1394, 2065],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
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"frame_duration": [0, 1033],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
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{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1033, 1394],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1394, 2065],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000076.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2698,
|
| 6 |
+
"valid_duration": [30, 2728]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 479],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [479, 1804],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1804, 2093],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2093, 2728],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [30, 1804],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1804, 2093],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2093, 2728],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000084.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2051,
|
| 6 |
+
"valid_duration": [0, 2051]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 408],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [409, 1294],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1303, 1586],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1586, 2051],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1294],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1303, 1586],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1586, 2051],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000085.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2614,
|
| 6 |
+
"valid_duration": [0, 2614]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 656],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [656, 1630],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1732, 2120],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2120, 2614],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1630],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1732, 2120],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2120, 2614],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000087.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2730,
|
| 6 |
+
"valid_duration": [0, 2730]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 318],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [320, 1475],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1484, 2005],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2008, 2730],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1475],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1484, 2005],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2008, 2730],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000091.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2538,
|
| 6 |
+
"valid_duration": [0, 2538]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 642],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [642, 1680],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1680, 2052],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2052, 2538],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1680],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1680, 2052],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2052, 2538],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000095.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1916,
|
| 6 |
+
"valid_duration": [0, 1916]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 393],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [393, 1359],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1359, 1566],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1566, 1916],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1359],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1359, 1566],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1566, 1916],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000099.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1714,
|
| 6 |
+
"valid_duration": [0, 1714]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 662],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [663, 1211],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1211, 1440],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1440, 1714],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1211],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1211, 1440],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1440, 1714],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000104.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4260,
|
| 6 |
+
"valid_duration": [0, 4260]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["coffee_table_koagbh_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 893],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1200, 2059],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2060, 3135],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3135, 4260],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2059],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2060, 3135],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3135, 4260],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000107.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2394,
|
| 6 |
+
"valid_duration": [0, 2394]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 701],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [701, 1362],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1362, 1890],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1890, 2394],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1362],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1362, 1890],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1890, 2394],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000108.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3328,
|
| 6 |
+
"valid_duration": [0, 3328]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 918],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [918, 2375],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2375, 2602],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2602, 3328],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2375],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2375, 2602],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2602, 3328],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000114.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3437,
|
| 6 |
+
"valid_duration": [0, 3437]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 594],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [594, 1997],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1997, 2573],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2573, 3437],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1997],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1997, 2573],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2573, 3437],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000115.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2007,
|
| 6 |
+
"valid_duration": [0, 2007]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 435],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [436, 1362],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1364, 1719],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1720, 2007],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1362],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1364, 1719],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1720, 2007],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000117.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2412,
|
| 6 |
+
"valid_duration": [0, 2412]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 420],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [429, 1278],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1278, 1890],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1890, 2412],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1278],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1278, 1890],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1890, 2412],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000118.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3108,
|
| 6 |
+
"valid_duration": [0, 3108]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1201],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1201, 2064],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2064, 2352],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2353, 3108],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2064],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2064, 2352],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2353, 3108],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000120.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1741,
|
| 6 |
+
"valid_duration": [64, 1805]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [64, 330],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [330, 844],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [844, 1158],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1158, 1805],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [64, 844],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [844, 1158],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1158, 1805],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000121.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1967,
|
| 6 |
+
"valid_duration": [0, 1967]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 310],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [310, 1315],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1315, 1564],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1564, 1967],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1315],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1315, 1564],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1564, 1967],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000122.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2180,
|
| 6 |
+
"valid_duration": [0, 2180]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 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": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [772, 1392],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1393, 1812],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1812, 2180],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1392],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1393, 1812],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1812, 2180],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000125.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2586,
|
| 6 |
+
"valid_duration": [0, 2586]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 634],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [635, 1089],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1089, 1693],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1694, 2586],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1089],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1089, 1693],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1694, 2586],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000128.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3531,
|
| 6 |
+
"valid_duration": [0, 3531]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 784],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [784, 2738],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2738, 3084],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3085, 3531],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2738],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2738, 3084],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3085, 3531],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000131.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1655,
|
| 6 |
+
"valid_duration": [0, 1655]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 756],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [759, 1260],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1262, 1407],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1407, 1655],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
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"frame_duration": [0, 1260],
|
| 68 |
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"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
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{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1262, 1407],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1407, 1655],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000132.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1509,
|
| 6 |
+
"valid_duration": [0, 1509]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 458],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [459, 935],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [936, 1095],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1096, 1509],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 935],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
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{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [936, 1095],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1096, 1509],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000151.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1552,
|
| 6 |
+
"valid_duration": [0, 1552]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 426],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [426, 934],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [934, 1152],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1152, 1552],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 934],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [934, 1152],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1152, 1552],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/episode_00000152.json
ADDED
|
@@ -0,0 +1,93 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1417,
|
| 6 |
+
"valid_duration": [0, 1417]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 363],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [363, 1018],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1018, 1184],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1184, 1417],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1018],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
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{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1018, 1184],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1184, 1417],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|