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- annotations/episode_00000006.json +679 -0
- annotations/episode_00000016.json +679 -0
- annotations/episode_00000028.json +679 -0
- annotations/episode_00000045.json +679 -0
- annotations/episode_00000049.json +679 -0
- annotations/episode_00000074.json +679 -0
- annotations/episode_00000080.json +679 -0
- annotations/episode_00000082.json +679 -0
- annotations/episode_00000096.json +712 -0
- annotations/episode_00000121.json +745 -0
- annotations/episode_00000128.json +712 -0
- annotations/episode_00000132.json +712 -0
- annotations/episode_00000135.json +745 -0
- annotations/episode_00000156.json +679 -0
- annotations/episode_00000192.json +778 -0
- annotations/episode_00000195.json +745 -0
- annotations/episode_00000196.json +745 -0
- annotations/episode_00000206.json +679 -0
- annotations/episode_00000221.json +679 -0
- annotations/episode_00000239.json +679 -0
- annotations/episode_00000245.json +712 -0
- annotations/episode_00000253.json +654 -0
- annotations/episode_00000298.json +679 -0
- meta/sim/episode_00000004.json +0 -0
- meta/sim/episode_00000005.json +0 -0
- meta/sim/episode_00000006.json +0 -0
- meta/sim/episode_00000007.json +0 -0
- meta/sim/episode_00000014.json +0 -0
- meta/sim/episode_00000015.json +0 -0
- meta/sim/episode_00000016.json +0 -0
- meta/sim/episode_00000017.json +0 -0
- meta/sim/episode_00000022.json +0 -0
- meta/sim/episode_00000023.json +0 -0
- meta/sim/episode_00000027.json +0 -0
- meta/sim/episode_00000032.json +0 -0
- meta/sim/episode_00000037.json +0 -0
- meta/sim/episode_00000039.json +0 -0
- meta/sim/episode_00000041.json +0 -0
- meta/sim/episode_00000042.json +0 -0
- meta/sim/episode_00000045.json +0 -0
- meta/sim/episode_00000047.json +0 -0
- meta/sim/episode_00000049.json +0 -0
- meta/sim/episode_00000052.json +0 -0
- meta/sim/episode_00000053.json +0 -0
- meta/sim/episode_00000054.json +0 -0
- meta/sim/episode_00000055.json +0 -0
- meta/sim/episode_00000059.json +0 -0
- meta/sim/episode_00000060.json +0 -0
- meta/sim/episode_00000061.json +0 -0
- meta/sim/episode_00000067.json +0 -0
annotations/episode_00000006.json
ADDED
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@@ -0,0 +1,679 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9360,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
9360
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"top_cabinet_tynnnw_1"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
471
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"top_cabinet_tynnnw_1"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [
|
| 51 |
+
[
|
| 52 |
+
"right_door"
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"frame_duration": [
|
| 56 |
+
482,
|
| 57 |
+
1730
|
| 58 |
+
],
|
| 59 |
+
"mp_ef": [],
|
| 60 |
+
"skill_type": [
|
| 61 |
+
"coordinated"
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"skill_idx": 2,
|
| 66 |
+
"skill_id": [
|
| 67 |
+
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| 562 |
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| 563 |
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| 564 |
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|
| 565 |
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| 566 |
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|
| 567 |
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| 568 |
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|
| 569 |
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| 572 |
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| 579 |
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| 581 |
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| 582 |
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| 583 |
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| 584 |
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[
|
| 615 |
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| 616 |
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| 617 |
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| 624 |
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|
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|
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[
|
| 627 |
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|
| 628 |
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[
|
| 629 |
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|
| 630 |
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|
| 631 |
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|
| 632 |
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|
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|
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|
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|
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|
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|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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{
|
| 648 |
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|
| 649 |
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|
| 650 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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|
| 654 |
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|
| 655 |
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|
| 656 |
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[
|
| 657 |
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|
| 658 |
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|
| 659 |
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|
| 660 |
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|
| 661 |
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|
| 662 |
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[
|
| 663 |
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|
| 664 |
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|
| 665 |
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|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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|
| 670 |
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|
| 672 |
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| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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}
|
| 678 |
+
]
|
| 679 |
+
}
|
annotations/episode_00000016.json
ADDED
|
@@ -0,0 +1,679 @@
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| 471 |
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| 676 |
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|
| 677 |
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|
| 678 |
+
]
|
| 679 |
+
}
|
annotations/episode_00000028.json
ADDED
|
@@ -0,0 +1,679 @@
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|
| 678 |
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|
| 679 |
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}
|
annotations/episode_00000045.json
ADDED
|
@@ -0,0 +1,679 @@
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|
| 679 |
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}
|
annotations/episode_00000049.json
ADDED
|
@@ -0,0 +1,679 @@
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| 1 |
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| 2 |
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| 679 |
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}
|
annotations/episode_00000074.json
ADDED
|
@@ -0,0 +1,679 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
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"data_folder": "",
|
| 4 |
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|
| 5 |
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"task_duration": 8370,
|
| 6 |
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|
| 7 |
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30,
|
| 8 |
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8400
|
| 9 |
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|
| 10 |
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},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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|
| 15 |
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1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
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"move to"
|
| 19 |
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],
|
| 20 |
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|
| 21 |
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[
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| 22 |
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|
| 23 |
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|
| 24 |
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],
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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760
|
| 30 |
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],
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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]
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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10
|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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[
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| 52 |
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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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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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{
|
| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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[
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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1892,
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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| 89 |
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| 90 |
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|
| 91 |
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|
| 92 |
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{
|
| 93 |
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|
| 94 |
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| 95 |
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| 96 |
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|
| 97 |
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| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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]
|
| 115 |
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|
| 116 |
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{
|
| 117 |
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|
| 118 |
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|
| 119 |
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2
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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[
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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3784
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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{
|
| 144 |
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|
| 145 |
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| 146 |
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1
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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[
|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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3784,
|
| 160 |
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3979
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| 644 |
+
14
|
| 645 |
+
]
|
| 646 |
+
},
|
| 647 |
+
{
|
| 648 |
+
"primitive_idx": 4,
|
| 649 |
+
"primitive_id": [
|
| 650 |
+
12
|
| 651 |
+
],
|
| 652 |
+
"primitive_description": [
|
| 653 |
+
"close door"
|
| 654 |
+
],
|
| 655 |
+
"object_id": [
|
| 656 |
+
[
|
| 657 |
+
"top_cabinet_tynnnw_1"
|
| 658 |
+
]
|
| 659 |
+
],
|
| 660 |
+
"manipulating_object_id": [],
|
| 661 |
+
"spatial_prefix": [
|
| 662 |
+
[
|
| 663 |
+
[
|
| 664 |
+
"right_door",
|
| 665 |
+
"left_door"
|
| 666 |
+
]
|
| 667 |
+
]
|
| 668 |
+
],
|
| 669 |
+
"frame_duration": [
|
| 670 |
+
7124,
|
| 671 |
+
8400
|
| 672 |
+
],
|
| 673 |
+
"skill_idxes": [
|
| 674 |
+
15,
|
| 675 |
+
16
|
| 676 |
+
]
|
| 677 |
+
}
|
| 678 |
+
]
|
| 679 |
+
}
|
annotations/episode_00000080.json
ADDED
|
@@ -0,0 +1,679 @@
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8726,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8726
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"top_cabinet_tynnnw_1"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
535
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"top_cabinet_tynnnw_1"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [
|
| 51 |
+
[
|
| 52 |
+
"right_door"
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"frame_duration": [
|
| 56 |
+
535,
|
| 57 |
+
1630
|
| 58 |
+
],
|
| 59 |
+
"mp_ef": [],
|
| 60 |
+
"skill_type": [
|
| 61 |
+
"coordinated"
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"skill_idx": 2,
|
| 66 |
+
"skill_id": [
|
| 67 |
+
10
|
| 68 |
+
],
|
| 69 |
+
"skill_description": [
|
| 70 |
+
"open door"
|
| 71 |
+
],
|
| 72 |
+
"object_id": [
|
| 73 |
+
[
|
| 74 |
+
"top_cabinet_tynnnw_1"
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
"manipulating_object_id": [],
|
| 78 |
+
"spatial_prefix": [
|
| 79 |
+
[
|
| 80 |
+
"left_door"
|
| 81 |
+
]
|
| 82 |
+
],
|
| 83 |
+
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| 567 |
+
"food_processor_90",
|
| 568 |
+
"top_cabinet_tynnnw_1",
|
| 569 |
+
"toaster_91"
|
| 570 |
+
]
|
| 571 |
+
],
|
| 572 |
+
"manipulating_object_id": [
|
| 573 |
+
"food_processor_90",
|
| 574 |
+
"food_processor_90"
|
| 575 |
+
],
|
| 576 |
+
"spatial_prefix": [
|
| 577 |
+
[],
|
| 578 |
+
[
|
| 579 |
+
[],
|
| 580 |
+
[
|
| 581 |
+
"low_level"
|
| 582 |
+
],
|
| 583 |
+
[
|
| 584 |
+
"right"
|
| 585 |
+
]
|
| 586 |
+
]
|
| 587 |
+
],
|
| 588 |
+
"frame_duration": [
|
| 589 |
+
4410,
|
| 590 |
+
5830
|
| 591 |
+
],
|
| 592 |
+
"skill_idxes": [
|
| 593 |
+
7,
|
| 594 |
+
8,
|
| 595 |
+
9,
|
| 596 |
+
10
|
| 597 |
+
]
|
| 598 |
+
},
|
| 599 |
+
{
|
| 600 |
+
"primitive_idx": 3,
|
| 601 |
+
"primitive_id": [
|
| 602 |
+
2,
|
| 603 |
+
92
|
| 604 |
+
],
|
| 605 |
+
"primitive_description": [
|
| 606 |
+
"pick up from",
|
| 607 |
+
"place in next to"
|
| 608 |
+
],
|
| 609 |
+
"object_id": [
|
| 610 |
+
[
|
| 611 |
+
"french_press_89",
|
| 612 |
+
"bar_byvbuc_0"
|
| 613 |
+
],
|
| 614 |
+
[
|
| 615 |
+
"french_press_89",
|
| 616 |
+
"top_cabinet_tynnnw_1",
|
| 617 |
+
"food_processor_90"
|
| 618 |
+
]
|
| 619 |
+
],
|
| 620 |
+
"manipulating_object_id": [
|
| 621 |
+
"french_press_89",
|
| 622 |
+
"french_press_89"
|
| 623 |
+
],
|
| 624 |
+
"spatial_prefix": [
|
| 625 |
+
[],
|
| 626 |
+
[
|
| 627 |
+
[],
|
| 628 |
+
[
|
| 629 |
+
"low_level"
|
| 630 |
+
],
|
| 631 |
+
[
|
| 632 |
+
"right"
|
| 633 |
+
]
|
| 634 |
+
]
|
| 635 |
+
],
|
| 636 |
+
"frame_duration": [
|
| 637 |
+
5830,
|
| 638 |
+
7254
|
| 639 |
+
],
|
| 640 |
+
"skill_idxes": [
|
| 641 |
+
11,
|
| 642 |
+
12,
|
| 643 |
+
13,
|
| 644 |
+
14
|
| 645 |
+
]
|
| 646 |
+
},
|
| 647 |
+
{
|
| 648 |
+
"primitive_idx": 4,
|
| 649 |
+
"primitive_id": [
|
| 650 |
+
12
|
| 651 |
+
],
|
| 652 |
+
"primitive_description": [
|
| 653 |
+
"close door"
|
| 654 |
+
],
|
| 655 |
+
"object_id": [
|
| 656 |
+
[
|
| 657 |
+
"top_cabinet_tynnnw_1"
|
| 658 |
+
]
|
| 659 |
+
],
|
| 660 |
+
"manipulating_object_id": [],
|
| 661 |
+
"spatial_prefix": [
|
| 662 |
+
[
|
| 663 |
+
[
|
| 664 |
+
"right_door",
|
| 665 |
+
"left_door"
|
| 666 |
+
]
|
| 667 |
+
]
|
| 668 |
+
],
|
| 669 |
+
"frame_duration": [
|
| 670 |
+
7254,
|
| 671 |
+
8726
|
| 672 |
+
],
|
| 673 |
+
"skill_idxes": [
|
| 674 |
+
15,
|
| 675 |
+
16
|
| 676 |
+
]
|
| 677 |
+
}
|
| 678 |
+
]
|
| 679 |
+
}
|
annotations/episode_00000082.json
ADDED
|
@@ -0,0 +1,679 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7067,
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| 678 |
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|
| 679 |
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}
|
annotations/episode_00000096.json
ADDED
|
@@ -0,0 +1,712 @@
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| 711 |
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|
| 712 |
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}
|
annotations/episode_00000121.json
ADDED
|
@@ -0,0 +1,745 @@
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| 1 |
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| 2 |
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+
"spatial_prefix": [
|
| 728 |
+
[
|
| 729 |
+
[
|
| 730 |
+
"right_door",
|
| 731 |
+
"left_door"
|
| 732 |
+
]
|
| 733 |
+
]
|
| 734 |
+
],
|
| 735 |
+
"frame_duration": [
|
| 736 |
+
8914,
|
| 737 |
+
10428
|
| 738 |
+
],
|
| 739 |
+
"skill_idxes": [
|
| 740 |
+
17,
|
| 741 |
+
18
|
| 742 |
+
]
|
| 743 |
+
}
|
| 744 |
+
]
|
| 745 |
+
}
|
annotations/episode_00000128.json
ADDED
|
@@ -0,0 +1,712 @@
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9015,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
9,
|
| 8 |
+
9024
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"top_cabinet_tynnnw_1"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
9,
|
| 29 |
+
603
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"top_cabinet_tynnnw_1"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [
|
| 51 |
+
[
|
| 52 |
+
"left_door"
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"frame_duration": [
|
| 56 |
+
607,
|
| 57 |
+
1880
|
| 58 |
+
],
|
| 59 |
+
"mp_ef": [],
|
| 60 |
+
"skill_type": [
|
| 61 |
+
"uncoordinated"
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"skill_idx": 2,
|
| 66 |
+
"skill_id": [
|
| 67 |
+
10
|
| 68 |
+
],
|
| 69 |
+
"skill_description": [
|
| 70 |
+
"open door"
|
| 71 |
+
],
|
| 72 |
+
"object_id": [
|
| 73 |
+
[
|
| 74 |
+
"top_cabinet_tynnnw_1"
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
"manipulating_object_id": [],
|
| 78 |
+
"spatial_prefix": [
|
| 79 |
+
[
|
| 80 |
+
"right_door"
|
| 81 |
+
]
|
| 82 |
+
],
|
| 83 |
+
"frame_duration": [
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|
| 711 |
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]
|
| 712 |
+
}
|
annotations/episode_00000132.json
ADDED
|
@@ -0,0 +1,712 @@
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|
| 712 |
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}
|
annotations/episode_00000135.json
ADDED
|
@@ -0,0 +1,745 @@
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|
| 744 |
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|
| 745 |
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}
|
annotations/episode_00000156.json
ADDED
|
@@ -0,0 +1,679 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
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"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6324,
|
| 6 |
+
"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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6324
|
| 9 |
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]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
+
"skill_description": [
|
| 18 |
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"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
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"manipulating_object_id": [],
|
| 26 |
+
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|
| 27 |
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|
| 28 |
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0,
|
| 29 |
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235
|
| 30 |
+
],
|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 33 |
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"navigation"
|
| 34 |
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]
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
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"skill_idx": 1,
|
| 38 |
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"skill_id": [
|
| 39 |
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10
|
| 40 |
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],
|
| 41 |
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"skill_description": [
|
| 42 |
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|
| 43 |
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],
|
| 44 |
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"object_id": [
|
| 45 |
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[
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| 46 |
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|
| 47 |
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]
|
| 48 |
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],
|
| 49 |
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|
| 50 |
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|
| 51 |
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[
|
| 52 |
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"right_door"
|
| 53 |
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]
|
| 54 |
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],
|
| 55 |
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|
| 56 |
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235,
|
| 57 |
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1419
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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]
|
| 63 |
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|
| 64 |
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{
|
| 65 |
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|
| 66 |
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|
| 67 |
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10
|
| 68 |
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],
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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[
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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[
|
| 80 |
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"left_door"
|
| 81 |
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]
|
| 82 |
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],
|
| 83 |
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|
| 84 |
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1419,
|
| 85 |
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2400
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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},
|
| 92 |
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{
|
| 93 |
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|
| 94 |
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| 95 |
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1
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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],
|
| 100 |
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|
| 101 |
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[
|
| 102 |
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"toaster_91"
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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2400,
|
| 109 |
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2554
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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]
|
| 115 |
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},
|
| 116 |
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{
|
| 117 |
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|
| 118 |
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|
| 119 |
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2
|
| 120 |
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],
|
| 121 |
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"skill_description": [
|
| 122 |
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"pick up from"
|
| 123 |
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],
|
| 124 |
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|
| 125 |
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[
|
| 126 |
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"toaster_91",
|
| 127 |
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|
| 128 |
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]
|
| 129 |
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],
|
| 130 |
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|
| 131 |
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"toaster_91"
|
| 132 |
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],
|
| 133 |
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|
| 134 |
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|
| 135 |
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2563,
|
| 136 |
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2978
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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]
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
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|
| 145 |
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+
[],
|
| 628 |
+
[
|
| 629 |
+
"low_level"
|
| 630 |
+
],
|
| 631 |
+
[
|
| 632 |
+
"right"
|
| 633 |
+
]
|
| 634 |
+
]
|
| 635 |
+
],
|
| 636 |
+
"frame_duration": [
|
| 637 |
+
4652,
|
| 638 |
+
5529
|
| 639 |
+
],
|
| 640 |
+
"skill_idxes": [
|
| 641 |
+
11,
|
| 642 |
+
12,
|
| 643 |
+
13,
|
| 644 |
+
14
|
| 645 |
+
]
|
| 646 |
+
},
|
| 647 |
+
{
|
| 648 |
+
"primitive_idx": 4,
|
| 649 |
+
"primitive_id": [
|
| 650 |
+
12
|
| 651 |
+
],
|
| 652 |
+
"primitive_description": [
|
| 653 |
+
"close door"
|
| 654 |
+
],
|
| 655 |
+
"object_id": [
|
| 656 |
+
[
|
| 657 |
+
"top_cabinet_tynnnw_1"
|
| 658 |
+
]
|
| 659 |
+
],
|
| 660 |
+
"manipulating_object_id": [],
|
| 661 |
+
"spatial_prefix": [
|
| 662 |
+
[
|
| 663 |
+
[
|
| 664 |
+
"right_door",
|
| 665 |
+
"left_door"
|
| 666 |
+
]
|
| 667 |
+
]
|
| 668 |
+
],
|
| 669 |
+
"frame_duration": [
|
| 670 |
+
5530,
|
| 671 |
+
6324
|
| 672 |
+
],
|
| 673 |
+
"skill_idxes": [
|
| 674 |
+
15,
|
| 675 |
+
16
|
| 676 |
+
]
|
| 677 |
+
}
|
| 678 |
+
]
|
| 679 |
+
}
|
annotations/episode_00000192.json
ADDED
|
@@ -0,0 +1,778 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8850,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8850
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
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| 15 |
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}
|
annotations/episode_00000195.json
ADDED
|
@@ -0,0 +1,745 @@
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|
annotations/episode_00000196.json
ADDED
|
@@ -0,0 +1,745 @@
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|
|
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|
|
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|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9723,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
9723
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"top_cabinet_tynnnw_1"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
833
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"top_cabinet_tynnnw_1"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [
|
| 51 |
+
[
|
| 52 |
+
"left_door"
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"frame_duration": [
|
| 56 |
+
834,
|
| 57 |
+
2136
|
| 58 |
+
],
|
| 59 |
+
"mp_ef": [],
|
| 60 |
+
"skill_type": [
|
| 61 |
+
"uncoordinated"
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"skill_idx": 2,
|
| 66 |
+
"skill_id": [
|
| 67 |
+
10
|
| 68 |
+
],
|
| 69 |
+
"skill_description": [
|
| 70 |
+
"open door"
|
| 71 |
+
],
|
| 72 |
+
"object_id": [
|
| 73 |
+
[
|
| 74 |
+
"top_cabinet_tynnnw_1"
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
"manipulating_object_id": [],
|
| 78 |
+
"spatial_prefix": [
|
| 79 |
+
[
|
| 80 |
+
"right_door"
|
| 81 |
+
]
|
| 82 |
+
],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
2138,
|
| 85 |
+
3279
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"uncoordinated"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"skill_idx": 3,
|
| 94 |
+
"skill_id": [
|
| 95 |
+
1
|
| 96 |
+
],
|
| 97 |
+
"skill_description": [
|
| 98 |
+
"move to"
|
| 99 |
+
],
|
| 100 |
+
"object_id": [
|
| 101 |
+
[
|
| 102 |
+
"toaster_91"
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|
| 744 |
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|
| 745 |
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}
|
annotations/episode_00000206.json
ADDED
|
@@ -0,0 +1,679 @@
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| 440 |
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|
| 442 |
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| 443 |
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| 445 |
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|
| 446 |
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| 455 |
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|
| 459 |
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|
| 460 |
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| 464 |
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| 465 |
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|
| 469 |
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|
| 470 |
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|
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|
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|
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|
| 677 |
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|
| 678 |
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]
|
| 679 |
+
}
|
annotations/episode_00000221.json
ADDED
|
@@ -0,0 +1,679 @@
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|
| 679 |
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}
|
annotations/episode_00000239.json
ADDED
|
@@ -0,0 +1,679 @@
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|
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|
| 679 |
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}
|
annotations/episode_00000245.json
ADDED
|
@@ -0,0 +1,712 @@
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| 1 |
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{
|
| 2 |
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|
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 9 |
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| 10 |
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| 12 |
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| 13 |
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| 15 |
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| 16 |
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| 18 |
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| 19 |
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| 26 |
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| 29 |
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| 30 |
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| 671 |
+
],
|
| 672 |
+
"skill_idxes": [
|
| 673 |
+
11,
|
| 674 |
+
12,
|
| 675 |
+
13,
|
| 676 |
+
14,
|
| 677 |
+
15
|
| 678 |
+
]
|
| 679 |
+
},
|
| 680 |
+
{
|
| 681 |
+
"primitive_idx": 4,
|
| 682 |
+
"primitive_id": [
|
| 683 |
+
12
|
| 684 |
+
],
|
| 685 |
+
"primitive_description": [
|
| 686 |
+
"close door"
|
| 687 |
+
],
|
| 688 |
+
"object_id": [
|
| 689 |
+
[
|
| 690 |
+
"top_cabinet_tynnnw_1"
|
| 691 |
+
]
|
| 692 |
+
],
|
| 693 |
+
"manipulating_object_id": [],
|
| 694 |
+
"spatial_prefix": [
|
| 695 |
+
[
|
| 696 |
+
[
|
| 697 |
+
"left_door",
|
| 698 |
+
"right_door"
|
| 699 |
+
]
|
| 700 |
+
]
|
| 701 |
+
],
|
| 702 |
+
"frame_duration": [
|
| 703 |
+
6966,
|
| 704 |
+
7916
|
| 705 |
+
],
|
| 706 |
+
"skill_idxes": [
|
| 707 |
+
16,
|
| 708 |
+
17
|
| 709 |
+
]
|
| 710 |
+
}
|
| 711 |
+
]
|
| 712 |
+
}
|
annotations/episode_00000253.json
ADDED
|
@@ -0,0 +1,654 @@
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|
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|
|
|
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|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6313,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6313
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"top_cabinet_tynnnw_1"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
719
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"top_cabinet_tynnnw_1"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [
|
| 51 |
+
[
|
| 52 |
+
"right_door"
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"frame_duration": [
|
| 56 |
+
719,
|
| 57 |
+
1638
|
| 58 |
+
],
|
| 59 |
+
"mp_ef": [],
|
| 60 |
+
"skill_type": [
|
| 61 |
+
"coordinated"
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"skill_idx": 2,
|
| 66 |
+
"skill_id": [
|
| 67 |
+
10
|
| 68 |
+
],
|
| 69 |
+
"skill_description": [
|
| 70 |
+
"open door"
|
| 71 |
+
],
|
| 72 |
+
"object_id": [
|
| 73 |
+
[
|
| 74 |
+
"top_cabinet_tynnnw_1"
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
"manipulating_object_id": [],
|
| 78 |
+
"spatial_prefix": [
|
| 79 |
+
[
|
| 80 |
+
"left_door"
|
| 81 |
+
]
|
| 82 |
+
],
|
| 83 |
+
"frame_duration": [
|
| 84 |
+
1638,
|
| 85 |
+
2386
|
| 86 |
+
],
|
| 87 |
+
"mp_ef": [],
|
| 88 |
+
"skill_type": [
|
| 89 |
+
"uncoordinated"
|
| 90 |
+
]
|
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+
"primitive_idx": 3,
|
| 576 |
+
"primitive_id": [
|
| 577 |
+
2,
|
| 578 |
+
92
|
| 579 |
+
],
|
| 580 |
+
"primitive_description": [
|
| 581 |
+
"pick up from",
|
| 582 |
+
"place in next to"
|
| 583 |
+
],
|
| 584 |
+
"object_id": [
|
| 585 |
+
[
|
| 586 |
+
"french_press_89",
|
| 587 |
+
"bar_byvbuc_0"
|
| 588 |
+
],
|
| 589 |
+
[
|
| 590 |
+
"french_press_89",
|
| 591 |
+
"top_cabinet_tynnnw_1",
|
| 592 |
+
"food_processor_90"
|
| 593 |
+
]
|
| 594 |
+
],
|
| 595 |
+
"manipulating_object_id": [
|
| 596 |
+
"french_press_89",
|
| 597 |
+
"french_press_89"
|
| 598 |
+
],
|
| 599 |
+
"spatial_prefix": [
|
| 600 |
+
[],
|
| 601 |
+
[
|
| 602 |
+
[],
|
| 603 |
+
[
|
| 604 |
+
"low_level"
|
| 605 |
+
],
|
| 606 |
+
[
|
| 607 |
+
"right"
|
| 608 |
+
]
|
| 609 |
+
]
|
| 610 |
+
],
|
| 611 |
+
"frame_duration": [
|
| 612 |
+
4260,
|
| 613 |
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5437
|
| 614 |
+
],
|
| 615 |
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"skill_idxes": [
|
| 616 |
+
10,
|
| 617 |
+
11,
|
| 618 |
+
12,
|
| 619 |
+
13
|
| 620 |
+
]
|
| 621 |
+
},
|
| 622 |
+
{
|
| 623 |
+
"primitive_idx": 4,
|
| 624 |
+
"primitive_id": [
|
| 625 |
+
12
|
| 626 |
+
],
|
| 627 |
+
"primitive_description": [
|
| 628 |
+
"close door"
|
| 629 |
+
],
|
| 630 |
+
"object_id": [
|
| 631 |
+
[
|
| 632 |
+
"top_cabinet_tynnnw_1"
|
| 633 |
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]
|
| 634 |
+
],
|
| 635 |
+
"manipulating_object_id": [],
|
| 636 |
+
"spatial_prefix": [
|
| 637 |
+
[
|
| 638 |
+
[
|
| 639 |
+
"right_door",
|
| 640 |
+
"left_door"
|
| 641 |
+
]
|
| 642 |
+
]
|
| 643 |
+
],
|
| 644 |
+
"frame_duration": [
|
| 645 |
+
5437,
|
| 646 |
+
6313
|
| 647 |
+
],
|
| 648 |
+
"skill_idxes": [
|
| 649 |
+
14,
|
| 650 |
+
15
|
| 651 |
+
]
|
| 652 |
+
}
|
| 653 |
+
]
|
| 654 |
+
}
|
annotations/episode_00000298.json
ADDED
|
@@ -0,0 +1,679 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "rearranging kitchen furniture",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6549,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
6549
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"top_cabinet_tynnnw_1"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
620
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
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