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- annotations/episode_00000018.json +689 -0
- annotations/episode_00000019.json +689 -0
- annotations/episode_00000026.json +689 -0
- annotations/episode_00000028.json +689 -0
- annotations/episode_00000032.json +689 -0
- annotations/episode_00000051.json +689 -0
- annotations/episode_00000084.json +689 -0
- annotations/episode_00000095.json +689 -0
- annotations/episode_00000110.json +689 -0
- annotations/episode_00000115.json +689 -0
- annotations/episode_00000119.json +689 -0
- annotations/episode_00000125.json +689 -0
- annotations/episode_00000131.json +689 -0
- annotations/episode_00000144.json +689 -0
- annotations/episode_00000146.json +689 -0
- annotations/episode_00000156.json +689 -0
- annotations/episode_00000173.json +689 -0
- annotations/episode_00000191.json +689 -0
- annotations/episode_00000193.json +689 -0
- annotations/episode_00000197.json +689 -0
- annotations/episode_00000208.json +689 -0
- annotations/episode_00000233.json +689 -0
- annotations/episode_00000252.json +689 -0
- meta/sim/episode_00000001.json +0 -0
- meta/sim/episode_00000009.json +0 -0
- meta/sim/episode_00000010.json +0 -0
- meta/sim/episode_00000013.json +0 -0
- meta/sim/episode_00000017.json +0 -0
- meta/sim/episode_00000020.json +0 -0
- meta/sim/episode_00000023.json +0 -0
- meta/sim/episode_00000024.json +0 -0
- meta/sim/episode_00000031.json +0 -0
- meta/sim/episode_00000035.json +0 -0
- meta/sim/episode_00000036.json +0 -0
- meta/sim/episode_00000040.json +0 -0
- meta/sim/episode_00000047.json +0 -0
- meta/sim/episode_00000051.json +0 -0
- meta/sim/episode_00000058.json +0 -0
- meta/sim/episode_00000060.json +0 -0
- meta/sim/episode_00000063.json +0 -0
- meta/sim/episode_00000064.json +0 -0
- meta/sim/episode_00000071.json +0 -0
- meta/sim/episode_00000072.json +0 -0
- meta/sim/episode_00000075.json +0 -0
- meta/sim/episode_00000076.json +0 -0
- meta/sim/episode_00000080.json +0 -0
- meta/sim/episode_00000082.json +0 -0
- meta/sim/episode_00000093.json +0 -0
- meta/sim/episode_00000095.json +0 -0
- meta/sim/episode_00000097.json +0 -0
annotations/episode_00000018.json
ADDED
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@@ -0,0 +1,689 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13158,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
117,
|
| 8 |
+
13275
|
| 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 |
+
"newspaper_74"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
117,
|
| 29 |
+
668
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
90
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"push to"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"newspaper_74",
|
| 47 |
+
"coffee_table_koagbh_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"newspaper_74"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [
|
| 54 |
+
[
|
| 55 |
+
"",
|
| 56 |
+
"to_the_edge_of"
|
| 57 |
+
]
|
| 58 |
+
],
|
| 59 |
+
"frame_duration": [
|
| 60 |
+
671,
|
| 61 |
+
2088
|
| 62 |
+
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|
| 688 |
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|
| 689 |
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}
|
annotations/episode_00000019.json
ADDED
|
@@ -0,0 +1,689 @@
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| 689 |
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}
|
annotations/episode_00000026.json
ADDED
|
@@ -0,0 +1,689 @@
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|
| 689 |
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}
|
annotations/episode_00000028.json
ADDED
|
@@ -0,0 +1,689 @@
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| 689 |
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}
|
annotations/episode_00000032.json
ADDED
|
@@ -0,0 +1,689 @@
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| 632 |
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|
| 633 |
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13,
|
| 634 |
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14
|
| 635 |
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]
|
| 636 |
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},
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| 637 |
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{
|
| 638 |
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"primitive_idx": 6,
|
| 639 |
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| 640 |
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4
|
| 641 |
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],
|
| 642 |
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"primitive_description": [
|
| 643 |
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"place in"
|
| 644 |
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|
| 645 |
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"object_id": [
|
| 646 |
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[
|
| 647 |
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"firewood_75",
|
| 648 |
+
"wood_fireplace_gpnsij_0"
|
| 649 |
+
]
|
| 650 |
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],
|
| 651 |
+
"manipulating_object_id": [
|
| 652 |
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"firewood_75"
|
| 653 |
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|
| 654 |
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|
| 655 |
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"frame_duration": [
|
| 656 |
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10825,
|
| 657 |
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11386
|
| 658 |
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],
|
| 659 |
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"skill_idxes": [
|
| 660 |
+
15
|
| 661 |
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]
|
| 662 |
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|
| 663 |
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{
|
| 664 |
+
"primitive_idx": 7,
|
| 665 |
+
"primitive_id": [
|
| 666 |
+
70
|
| 667 |
+
],
|
| 668 |
+
"primitive_description": [
|
| 669 |
+
"turn off switch"
|
| 670 |
+
],
|
| 671 |
+
"object_id": [
|
| 672 |
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[
|
| 673 |
+
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|
| 674 |
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|
| 675 |
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],
|
| 676 |
+
"manipulating_object_id": [
|
| 677 |
+
"lighter_73"
|
| 678 |
+
],
|
| 679 |
+
"spatial_prefix": [],
|
| 680 |
+
"frame_duration": [
|
| 681 |
+
11556,
|
| 682 |
+
11850
|
| 683 |
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],
|
| 684 |
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|
| 685 |
+
16
|
| 686 |
+
]
|
| 687 |
+
}
|
| 688 |
+
]
|
| 689 |
+
}
|
annotations/episode_00000051.json
ADDED
|
@@ -0,0 +1,689 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9961,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
75,
|
| 8 |
+
10036
|
| 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 |
+
"newspaper_74"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
75,
|
| 29 |
+
573
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
90
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"push to"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"newspaper_74",
|
| 47 |
+
"coffee_table_koagbh_0"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"manipulating_object_id": [
|
| 51 |
+
"newspaper_74"
|
| 52 |
+
],
|
| 53 |
+
"spatial_prefix": [
|
| 54 |
+
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| 689 |
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|
annotations/episode_00000084.json
ADDED
|
@@ -0,0 +1,689 @@
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| 689 |
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}
|
annotations/episode_00000095.json
ADDED
|
@@ -0,0 +1,689 @@
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|
| 689 |
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}
|
annotations/episode_00000110.json
ADDED
|
@@ -0,0 +1,689 @@
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|
| 689 |
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}
|
annotations/episode_00000115.json
ADDED
|
@@ -0,0 +1,689 @@
|
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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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|
| 627 |
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|
| 628 |
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|
| 629 |
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6720,
|
| 630 |
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7201
|
| 631 |
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],
|
| 632 |
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|
| 633 |
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13,
|
| 634 |
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14
|
| 635 |
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]
|
| 636 |
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},
|
| 637 |
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{
|
| 638 |
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"primitive_idx": 6,
|
| 639 |
+
"primitive_id": [
|
| 640 |
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4
|
| 641 |
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],
|
| 642 |
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"primitive_description": [
|
| 643 |
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"place in"
|
| 644 |
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|
| 645 |
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"object_id": [
|
| 646 |
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[
|
| 647 |
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"firewood_75",
|
| 648 |
+
"wood_fireplace_gpnsij_0"
|
| 649 |
+
]
|
| 650 |
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],
|
| 651 |
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"manipulating_object_id": [
|
| 652 |
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"firewood_75"
|
| 653 |
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|
| 654 |
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|
| 655 |
+
"frame_duration": [
|
| 656 |
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7201,
|
| 657 |
+
7616
|
| 658 |
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],
|
| 659 |
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"skill_idxes": [
|
| 660 |
+
15
|
| 661 |
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]
|
| 662 |
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|
| 663 |
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{
|
| 664 |
+
"primitive_idx": 7,
|
| 665 |
+
"primitive_id": [
|
| 666 |
+
70
|
| 667 |
+
],
|
| 668 |
+
"primitive_description": [
|
| 669 |
+
"turn off switch"
|
| 670 |
+
],
|
| 671 |
+
"object_id": [
|
| 672 |
+
[
|
| 673 |
+
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|
| 674 |
+
]
|
| 675 |
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],
|
| 676 |
+
"manipulating_object_id": [
|
| 677 |
+
"lighter_73"
|
| 678 |
+
],
|
| 679 |
+
"spatial_prefix": [],
|
| 680 |
+
"frame_duration": [
|
| 681 |
+
7616,
|
| 682 |
+
8010
|
| 683 |
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],
|
| 684 |
+
"skill_idxes": [
|
| 685 |
+
16
|
| 686 |
+
]
|
| 687 |
+
}
|
| 688 |
+
]
|
| 689 |
+
}
|
annotations/episode_00000119.json
ADDED
|
@@ -0,0 +1,689 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7886,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
7886
|
| 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 |
+
"newspaper_74"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
225
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
90
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"push to"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"newspaper_74",
|
| 47 |
+
"coffee_table_koagbh_0"
|
| 48 |
+
]
|
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| 689 |
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}
|
annotations/episode_00000125.json
ADDED
|
@@ -0,0 +1,689 @@
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|
| 689 |
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}
|
annotations/episode_00000131.json
ADDED
|
@@ -0,0 +1,689 @@
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|
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| 687 |
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|
| 688 |
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|
| 689 |
+
}
|
annotations/episode_00000144.json
ADDED
|
@@ -0,0 +1,689 @@
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|
| 689 |
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}
|
annotations/episode_00000146.json
ADDED
|
@@ -0,0 +1,689 @@
|
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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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| 2 |
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"lighter_73",
|
| 621 |
+
"firewood_76"
|
| 622 |
+
]
|
| 623 |
+
],
|
| 624 |
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"manipulating_object_id": [
|
| 625 |
+
"lighter_73"
|
| 626 |
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],
|
| 627 |
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"spatial_prefix": [],
|
| 628 |
+
"frame_duration": [
|
| 629 |
+
7953,
|
| 630 |
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8478
|
| 631 |
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],
|
| 632 |
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"skill_idxes": [
|
| 633 |
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13,
|
| 634 |
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14
|
| 635 |
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]
|
| 636 |
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},
|
| 637 |
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{
|
| 638 |
+
"primitive_idx": 6,
|
| 639 |
+
"primitive_id": [
|
| 640 |
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4
|
| 641 |
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],
|
| 642 |
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"primitive_description": [
|
| 643 |
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"place in"
|
| 644 |
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],
|
| 645 |
+
"object_id": [
|
| 646 |
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[
|
| 647 |
+
"firewood_76",
|
| 648 |
+
"wood_fireplace_gpnsij_0"
|
| 649 |
+
]
|
| 650 |
+
],
|
| 651 |
+
"manipulating_object_id": [
|
| 652 |
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"firewood_76"
|
| 653 |
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],
|
| 654 |
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|
| 655 |
+
"frame_duration": [
|
| 656 |
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8478,
|
| 657 |
+
8855
|
| 658 |
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],
|
| 659 |
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"skill_idxes": [
|
| 660 |
+
15
|
| 661 |
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]
|
| 662 |
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},
|
| 663 |
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{
|
| 664 |
+
"primitive_idx": 7,
|
| 665 |
+
"primitive_id": [
|
| 666 |
+
70
|
| 667 |
+
],
|
| 668 |
+
"primitive_description": [
|
| 669 |
+
"turn off switch"
|
| 670 |
+
],
|
| 671 |
+
"object_id": [
|
| 672 |
+
[
|
| 673 |
+
"lighter_73"
|
| 674 |
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]
|
| 675 |
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],
|
| 676 |
+
"manipulating_object_id": [
|
| 677 |
+
"lighter_73"
|
| 678 |
+
],
|
| 679 |
+
"spatial_prefix": [],
|
| 680 |
+
"frame_duration": [
|
| 681 |
+
8855,
|
| 682 |
+
9105
|
| 683 |
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],
|
| 684 |
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"skill_idxes": [
|
| 685 |
+
16
|
| 686 |
+
]
|
| 687 |
+
}
|
| 688 |
+
]
|
| 689 |
+
}
|
annotations/episode_00000156.json
ADDED
|
@@ -0,0 +1,689 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8430,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8430
|
| 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 |
+
"newspaper_74"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
615
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
90
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"push to"
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| 689 |
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}
|
annotations/episode_00000173.json
ADDED
|
@@ -0,0 +1,689 @@
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|
| 688 |
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|
| 689 |
+
}
|
annotations/episode_00000191.json
ADDED
|
@@ -0,0 +1,689 @@
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|
| 689 |
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}
|
annotations/episode_00000193.json
ADDED
|
@@ -0,0 +1,689 @@
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| 689 |
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}
|
annotations/episode_00000197.json
ADDED
|
@@ -0,0 +1,689 @@
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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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|
| 615 |
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"primitive_description": [
|
| 616 |
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"ignite"
|
| 617 |
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|
| 618 |
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|
| 619 |
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[
|
| 620 |
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"lighter_73",
|
| 621 |
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|
| 622 |
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|
| 623 |
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],
|
| 624 |
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"manipulating_object_id": [
|
| 625 |
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"lighter_73"
|
| 626 |
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],
|
| 627 |
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| 628 |
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|
| 629 |
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6650,
|
| 630 |
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7057
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| 631 |
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],
|
| 632 |
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"skill_idxes": [
|
| 633 |
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13,
|
| 634 |
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14
|
| 635 |
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]
|
| 636 |
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},
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| 637 |
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{
|
| 638 |
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"primitive_idx": 6,
|
| 639 |
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"primitive_id": [
|
| 640 |
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4
|
| 641 |
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],
|
| 642 |
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"primitive_description": [
|
| 643 |
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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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"manipulating_object_id": [
|
| 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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7057,
|
| 657 |
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7445
|
| 658 |
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],
|
| 659 |
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|
| 660 |
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15
|
| 661 |
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|
| 662 |
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|
| 663 |
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{
|
| 664 |
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"primitive_idx": 7,
|
| 665 |
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"primitive_id": [
|
| 666 |
+
70
|
| 667 |
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],
|
| 668 |
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"primitive_description": [
|
| 669 |
+
"turn off switch"
|
| 670 |
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],
|
| 671 |
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"object_id": [
|
| 672 |
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[
|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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"manipulating_object_id": [
|
| 677 |
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"lighter_73"
|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
| 682 |
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7832
|
| 683 |
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|
| 684 |
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|
| 685 |
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16
|
| 686 |
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]
|
| 687 |
+
}
|
| 688 |
+
]
|
| 689 |
+
}
|
annotations/episode_00000208.json
ADDED
|
@@ -0,0 +1,689 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8115,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8115
|
| 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 |
+
"newspaper_74"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
282
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
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|
| 688 |
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|
| 689 |
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}
|
annotations/episode_00000233.json
ADDED
|
@@ -0,0 +1,689 @@
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| 689 |
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}
|
annotations/episode_00000252.json
ADDED
|
@@ -0,0 +1,689 @@
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