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- annotations/episode_00000003.json +412 -0
- annotations/episode_00000008.json +412 -0
- annotations/episode_00000009.json +445 -0
- annotations/episode_00000010.json +445 -0
- annotations/episode_00000011.json +481 -0
- annotations/episode_00000012.json +453 -0
- annotations/episode_00000015.json +445 -0
- annotations/episode_00000017.json +420 -0
- annotations/episode_00000020.json +420 -0
- annotations/episode_00000022.json +453 -0
- annotations/episode_00000024.json +445 -0
- annotations/episode_00000028.json +445 -0
- annotations/episode_00000029.json +445 -0
- annotations/episode_00000031.json +445 -0
- annotations/episode_00000037.json +412 -0
- annotations/episode_00000038.json +412 -0
- annotations/episode_00000043.json +445 -0
- annotations/episode_00000044.json +387 -0
- annotations/episode_00000048.json +445 -0
- annotations/episode_00000051.json +445 -0
- annotations/episode_00000052.json +412 -0
- annotations/episode_00000057.json +445 -0
- annotations/episode_00000059.json +478 -0
- annotations/episode_00000062.json +445 -0
- annotations/episode_00000063.json +420 -0
- annotations/episode_00000069.json +445 -0
- annotations/episode_00000076.json +445 -0
- annotations/episode_00000083.json +420 -0
- annotations/episode_00000085.json +445 -0
- annotations/episode_00000086.json +420 -0
- annotations/episode_00000087.json +445 -0
- annotations/episode_00000088.json +478 -0
- annotations/episode_00000090.json +478 -0
- annotations/episode_00000091.json +420 -0
- annotations/episode_00000092.json +445 -0
- annotations/episode_00000093.json +387 -0
- annotations/episode_00000096.json +478 -0
- annotations/episode_00000102.json +420 -0
- annotations/episode_00000103.json +387 -0
- annotations/episode_00000104.json +453 -0
- annotations/episode_00000105.json +445 -0
- annotations/episode_00000106.json +412 -0
- annotations/episode_00000107.json +445 -0
- annotations/episode_00000109.json +445 -0
- annotations/episode_00000153.json +453 -0
- annotations/episode_00000154.json +445 -0
- annotations/episode_00000155.json +412 -0
- annotations/episode_00000161.json +445 -0
- annotations/episode_00000162.json +478 -0
- annotations/episode_00000164.json +445 -0
annotations/episode_00000003.json
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| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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"task_duration": 9986,
|
| 6 |
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|
| 7 |
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0,
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| 8 |
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9986
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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{
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| 13 |
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| 14 |
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| 15 |
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1
|
| 16 |
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| 17 |
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|
| 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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| 26 |
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"spatial_prefix": [],
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| 27 |
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"frame_duration": [
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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|
| 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": [
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| 42 |
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"open door"
|
| 43 |
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|
| 44 |
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"object_id": [
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| 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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"manipulating_object_id": [],
|
| 50 |
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| 51 |
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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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"coordinated"
|
| 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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|
| 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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{
|
| 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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|
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|
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| 102 |
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| 103 |
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|
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|
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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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{
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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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|
| 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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|
| 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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|
| 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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|
| 160 |
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|
| 161 |
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|
| 162 |
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{
|
| 163 |
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|
| 164 |
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| 165 |
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|
| 166 |
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|
| 167 |
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| 168 |
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|
| 169 |
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|
| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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| 183 |
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|
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|
| 185 |
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|
| 186 |
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{
|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 209 |
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| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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| 216 |
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|
| 217 |
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|
| 219 |
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|
| 220 |
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| 222 |
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|
| 223 |
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| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
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|
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| 246 |
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| 247 |
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| 249 |
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| 250 |
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| 265 |
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| 267 |
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| 268 |
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| 388 |
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|
| 389 |
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|
| 391 |
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|
| 392 |
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| 394 |
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|
| 395 |
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|
| 396 |
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| 397 |
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| 398 |
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| 399 |
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| 401 |
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|
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|
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|
| 410 |
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|
| 411 |
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]
|
| 412 |
+
}
|
annotations/episode_00000008.json
ADDED
|
@@ -0,0 +1,412 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7986,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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7986
|
| 9 |
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]
|
| 10 |
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},
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
429
|
| 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 |
+
"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
429,
|
| 53 |
+
1805
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
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| 59 |
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}
|
annotations/episode_00000009.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 370 |
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|
| 371 |
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|
| 372 |
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|
| 373 |
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[
|
| 374 |
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|
| 375 |
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|
| 376 |
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|
| 377 |
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[
|
| 378 |
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|
| 379 |
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| 380 |
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|
| 381 |
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| 382 |
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| 383 |
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| 384 |
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|
| 386 |
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| 387 |
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| 388 |
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|
| 389 |
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| 390 |
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|
| 391 |
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| 392 |
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6,
|
| 393 |
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|
| 394 |
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|
| 395 |
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| 398 |
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| 399 |
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| 400 |
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|
| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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|
| 407 |
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[
|
| 408 |
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|
| 409 |
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|
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|
| 411 |
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| 412 |
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|
| 413 |
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|
| 414 |
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|
| 415 |
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|
| 416 |
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|
| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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{
|
| 422 |
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|
| 423 |
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|
| 424 |
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69
|
| 425 |
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|
| 426 |
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"primitive_description": [
|
| 427 |
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|
| 428 |
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|
| 429 |
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"object_id": [
|
| 430 |
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[
|
| 431 |
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|
| 432 |
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|
| 433 |
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|
| 434 |
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"manipulating_object_id": [],
|
| 435 |
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|
| 436 |
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|
| 437 |
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|
| 438 |
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|
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| 441 |
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|
| 442 |
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]
|
| 443 |
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}
|
| 444 |
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]
|
| 445 |
+
}
|
annotations/episode_00000010.json
ADDED
|
@@ -0,0 +1,445 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9345,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
9345
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
193
|
| 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 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
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"frame_duration": [
|
| 52 |
+
193,
|
| 53 |
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1984
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
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{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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"skill_id": [
|
| 63 |
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1
|
| 64 |
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],
|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"baseball_cap_189"
|
| 71 |
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]
|
| 72 |
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],
|
| 73 |
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"manipulating_object_id": [],
|
| 74 |
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"spatial_prefix": [],
|
| 75 |
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"frame_duration": [
|
| 76 |
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1984,
|
| 77 |
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2799
|
| 78 |
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],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
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"navigation"
|
| 82 |
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]
|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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|
| 86 |
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|
| 87 |
+
2
|
| 88 |
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],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
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],
|
| 92 |
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"object_id": [
|
| 93 |
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[
|
| 94 |
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"baseball_cap_189",
|
| 95 |
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|
| 96 |
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]
|
| 97 |
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],
|
| 98 |
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"manipulating_object_id": [
|
| 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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2800,
|
| 104 |
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3615
|
| 105 |
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],
|
| 106 |
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|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
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{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
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1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
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[
|
| 121 |
+
"baseball_cap_188"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
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|
| 126 |
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"frame_duration": [
|
| 127 |
+
3615,
|
| 128 |
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4417
|
| 129 |
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],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
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"skill_id": [
|
| 138 |
+
93
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"turn to"
|
| 142 |
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],
|
| 143 |
+
"object_id": [
|
| 144 |
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[
|
| 145 |
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"baseball_cap_188",
|
| 146 |
+
"robot"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
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"manipulating_object_id": [
|
| 150 |
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"baseball_cap_188"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [
|
| 153 |
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[
|
| 154 |
+
"",
|
| 155 |
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"face"
|
| 156 |
+
]
|
| 157 |
+
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|
| 158 |
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|
| 159 |
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4417,
|
| 160 |
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5407
|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": [
|
| 164 |
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"uncoordinated"
|
| 165 |
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]
|
| 166 |
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},
|
| 167 |
+
{
|
| 168 |
+
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}
|
annotations/episode_00000011.json
ADDED
|
@@ -0,0 +1,481 @@
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6,
|
| 428 |
+
7,
|
| 429 |
+
8,
|
| 430 |
+
9,
|
| 431 |
+
10
|
| 432 |
+
]
|
| 433 |
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},
|
| 434 |
+
{
|
| 435 |
+
"primitive_idx": 2,
|
| 436 |
+
"primitive_id": [
|
| 437 |
+
12
|
| 438 |
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],
|
| 439 |
+
"primitive_description": [
|
| 440 |
+
"close door"
|
| 441 |
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],
|
| 442 |
+
"object_id": [
|
| 443 |
+
[
|
| 444 |
+
"washer_ynwamu_0"
|
| 445 |
+
]
|
| 446 |
+
],
|
| 447 |
+
"manipulating_object_id": [],
|
| 448 |
+
"spatial_prefix": [],
|
| 449 |
+
"frame_duration": [
|
| 450 |
+
7602,
|
| 451 |
+
8329
|
| 452 |
+
],
|
| 453 |
+
"skill_idxes": [
|
| 454 |
+
11
|
| 455 |
+
]
|
| 456 |
+
},
|
| 457 |
+
{
|
| 458 |
+
"primitive_idx": 3,
|
| 459 |
+
"primitive_id": [
|
| 460 |
+
69
|
| 461 |
+
],
|
| 462 |
+
"primitive_description": [
|
| 463 |
+
"turn on switch"
|
| 464 |
+
],
|
| 465 |
+
"object_id": [
|
| 466 |
+
[
|
| 467 |
+
"washer_ynwamu_0"
|
| 468 |
+
]
|
| 469 |
+
],
|
| 470 |
+
"manipulating_object_id": [],
|
| 471 |
+
"spatial_prefix": [],
|
| 472 |
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"frame_duration": [
|
| 473 |
+
8329,
|
| 474 |
+
9246
|
| 475 |
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],
|
| 476 |
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"skill_idxes": [
|
| 477 |
+
12
|
| 478 |
+
]
|
| 479 |
+
}
|
| 480 |
+
]
|
| 481 |
+
}
|
annotations/episode_00000012.json
ADDED
|
@@ -0,0 +1,453 @@
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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": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10991,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
10991
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
598
|
| 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 |
+
"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
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],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
598,
|
| 53 |
+
1794
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
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[
|
| 70 |
+
"baseball_cap_188"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
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"frame_duration": [
|
| 76 |
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1794,
|
| 77 |
+
2684
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
93
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"turn to"
|
| 91 |
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],
|
| 92 |
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"object_id": [
|
| 93 |
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[
|
| 94 |
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"baseball_cap_188",
|
| 95 |
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"robot"
|
| 96 |
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]
|
| 97 |
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],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
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"baseball_cap_188"
|
| 100 |
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],
|
| 101 |
+
"spatial_prefix": [
|
| 102 |
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[
|
| 103 |
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"",
|
| 104 |
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"face"
|
| 105 |
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]
|
| 106 |
+
],
|
| 107 |
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|
| 108 |
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2685,
|
| 109 |
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4305
|
| 110 |
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],
|
| 111 |
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"mp_ef": [],
|
| 112 |
+
"skill_type": [
|
| 113 |
+
"uncoordinated"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"skill_idx": 4,
|
| 118 |
+
"skill_id": [
|
| 119 |
+
2
|
| 120 |
+
],
|
| 121 |
+
"skill_description": [
|
| 122 |
+
"pick up from"
|
| 123 |
+
],
|
| 124 |
+
"object_id": [
|
| 125 |
+
[
|
| 126 |
+
"baseball_cap_188",
|
| 127 |
+
"countertop_ikwqer_0"
|
| 128 |
+
]
|
| 129 |
+
],
|
| 130 |
+
"manipulating_object_id": [
|
| 131 |
+
"baseball_cap_188"
|
| 132 |
+
],
|
| 133 |
+
"spatial_prefix": [],
|
| 134 |
+
"frame_duration": [
|
| 135 |
+
4306,
|
| 136 |
+
4983
|
| 137 |
+
],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": [
|
| 140 |
+
"uncoordinated"
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"skill_idx": 5,
|
| 145 |
+
"skill_id": [
|
| 146 |
+
93
|
| 147 |
+
],
|
| 148 |
+
"skill_description": [
|
| 149 |
+
"turn to"
|
| 150 |
+
],
|
| 151 |
+
"object_id": [
|
| 152 |
+
[
|
| 153 |
+
"baseball_cap_189",
|
| 154 |
+
"robot"
|
| 155 |
+
]
|
| 156 |
+
],
|
| 157 |
+
"manipulating_object_id": [
|
| 158 |
+
"baseball_cap_189"
|
| 159 |
+
],
|
| 160 |
+
"spatial_prefix": [
|
| 161 |
+
[
|
| 162 |
+
"",
|
| 163 |
+
"face"
|
| 164 |
+
]
|
| 165 |
+
],
|
| 166 |
+
"frame_duration": [
|
| 167 |
+
4984,
|
| 168 |
+
5808
|
| 169 |
+
],
|
| 170 |
+
"mp_ef": [],
|
| 171 |
+
"skill_type": [
|
| 172 |
+
"uncoordinated"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"skill_idx": 6,
|
| 177 |
+
"skill_id": [
|
| 178 |
+
2
|
| 179 |
+
],
|
| 180 |
+
"skill_description": [
|
| 181 |
+
"pick up from"
|
| 182 |
+
],
|
| 183 |
+
"object_id": [
|
| 184 |
+
[
|
| 185 |
+
"baseball_cap_189",
|
| 186 |
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| 453 |
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}
|
annotations/episode_00000015.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 444 |
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|
| 445 |
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}
|
annotations/episode_00000017.json
ADDED
|
@@ -0,0 +1,420 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
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|
| 2 |
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| 3 |
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| 26 |
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| 267 |
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| 268 |
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| 269 |
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| 271 |
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| 272 |
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| 273 |
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| 275 |
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| 293 |
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|
| 418 |
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|
| 419 |
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]
|
| 420 |
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}
|
annotations/episode_00000020.json
ADDED
|
@@ -0,0 +1,420 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7816,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
181,
|
| 8 |
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7997
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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"washer_ynwamu_0"
|
| 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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"frame_duration": [
|
| 28 |
+
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|
| 29 |
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339
|
| 30 |
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],
|
| 31 |
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"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
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"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
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|
| 42 |
+
"open door"
|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 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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|
| 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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"coordinated"
|
| 58 |
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]
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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|
| 63 |
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1
|
| 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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"baseball_cap_188"
|
| 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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"frame_duration": [
|
| 76 |
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1800,
|
| 77 |
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2127
|
| 78 |
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],
|
| 79 |
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|
| 80 |
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"skill_type": [
|
| 81 |
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"navigation"
|
| 82 |
+
]
|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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"skill_idx": 3,
|
| 86 |
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|
| 87 |
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2
|
| 88 |
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],
|
| 89 |
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"skill_description": [
|
| 90 |
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"pick up from"
|
| 91 |
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],
|
| 92 |
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"object_id": [
|
| 93 |
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[
|
| 94 |
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"baseball_cap_188",
|
| 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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"spatial_prefix": [],
|
| 102 |
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|
| 103 |
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|
| 420 |
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}
|
annotations/episode_00000022.json
ADDED
|
@@ -0,0 +1,453 @@
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+
9
|
| 404 |
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]
|
| 405 |
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},
|
| 406 |
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{
|
| 407 |
+
"primitive_idx": 2,
|
| 408 |
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"primitive_id": [
|
| 409 |
+
12
|
| 410 |
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],
|
| 411 |
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"primitive_description": [
|
| 412 |
+
"close door"
|
| 413 |
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],
|
| 414 |
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"object_id": [
|
| 415 |
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[
|
| 416 |
+
"washer_ynwamu_0"
|
| 417 |
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]
|
| 418 |
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],
|
| 419 |
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"manipulating_object_id": [],
|
| 420 |
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"spatial_prefix": [],
|
| 421 |
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"frame_duration": [
|
| 422 |
+
7011,
|
| 423 |
+
7887
|
| 424 |
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],
|
| 425 |
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"skill_idxes": [
|
| 426 |
+
10
|
| 427 |
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]
|
| 428 |
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},
|
| 429 |
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{
|
| 430 |
+
"primitive_idx": 3,
|
| 431 |
+
"primitive_id": [
|
| 432 |
+
69
|
| 433 |
+
],
|
| 434 |
+
"primitive_description": [
|
| 435 |
+
"turn on switch"
|
| 436 |
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],
|
| 437 |
+
"object_id": [
|
| 438 |
+
[
|
| 439 |
+
"washer_ynwamu_0"
|
| 440 |
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]
|
| 441 |
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],
|
| 442 |
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"manipulating_object_id": [],
|
| 443 |
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"spatial_prefix": [],
|
| 444 |
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"frame_duration": [
|
| 445 |
+
7887,
|
| 446 |
+
8310
|
| 447 |
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],
|
| 448 |
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"skill_idxes": [
|
| 449 |
+
11
|
| 450 |
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]
|
| 451 |
+
}
|
| 452 |
+
]
|
| 453 |
+
}
|
annotations/episode_00000024.json
ADDED
|
@@ -0,0 +1,445 @@
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|
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|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8541,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8541
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
312
|
| 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 |
+
"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
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],
|
| 49 |
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"manipulating_object_id": [],
|
| 50 |
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"spatial_prefix": [],
|
| 51 |
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"frame_duration": [
|
| 52 |
+
312,
|
| 53 |
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1793
|
| 54 |
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],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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"skill_id": [
|
| 63 |
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1
|
| 64 |
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],
|
| 65 |
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"skill_description": [
|
| 66 |
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"move to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"baseball_cap_189"
|
| 71 |
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]
|
| 72 |
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],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
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"spatial_prefix": [],
|
| 75 |
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"frame_duration": [
|
| 76 |
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1793,
|
| 77 |
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2650
|
| 78 |
+
],
|
| 79 |
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"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
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{
|
| 85 |
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"skill_idx": 3,
|
| 86 |
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"skill_id": [
|
| 87 |
+
93
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"turn to"
|
| 91 |
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],
|
| 92 |
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"object_id": [
|
| 93 |
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[
|
| 94 |
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"baseball_cap_189",
|
| 95 |
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"robot"
|
| 96 |
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]
|
| 97 |
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],
|
| 98 |
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"manipulating_object_id": [
|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"spatial_prefix": [
|
| 102 |
+
[
|
| 103 |
+
"",
|
| 104 |
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"face"
|
| 105 |
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]
|
| 106 |
+
],
|
| 107 |
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"frame_duration": [
|
| 108 |
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2650,
|
| 109 |
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3250
|
| 110 |
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],
|
| 111 |
+
"mp_ef": [],
|
| 112 |
+
"skill_type": [
|
| 113 |
+
"uncoordinated"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"skill_idx": 4,
|
| 118 |
+
"skill_id": [
|
| 119 |
+
2
|
| 120 |
+
],
|
| 121 |
+
"skill_description": [
|
| 122 |
+
"pick up from"
|
| 123 |
+
],
|
| 124 |
+
"object_id": [
|
| 125 |
+
[
|
| 126 |
+
"baseball_cap_189",
|
| 127 |
+
"countertop_ikwqer_0"
|
| 128 |
+
]
|
| 129 |
+
],
|
| 130 |
+
"manipulating_object_id": [
|
| 131 |
+
"baseball_cap_189"
|
| 132 |
+
],
|
| 133 |
+
"spatial_prefix": [],
|
| 134 |
+
"frame_duration": [
|
| 135 |
+
3250,
|
| 136 |
+
3515
|
| 137 |
+
],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": [
|
| 140 |
+
"uncoordinated"
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"skill_idx": 5,
|
| 145 |
+
"skill_id": [
|
| 146 |
+
1
|
| 147 |
+
],
|
| 148 |
+
"skill_description": [
|
| 149 |
+
"move to"
|
| 150 |
+
],
|
| 151 |
+
"object_id": [
|
| 152 |
+
[
|
| 153 |
+
"baseball_cap_188"
|
| 154 |
+
]
|
| 155 |
+
],
|
| 156 |
+
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|
| 157 |
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|
| 158 |
+
"frame_duration": [
|
| 159 |
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3515,
|
| 160 |
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4056
|
| 161 |
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],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": [
|
| 164 |
+
"navigation"
|
| 165 |
+
]
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"skill_idx": 6,
|
| 169 |
+
"skill_id": [
|
| 170 |
+
2
|
| 171 |
+
],
|
| 172 |
+
"skill_description": [
|
| 173 |
+
"pick up from"
|
| 174 |
+
],
|
| 175 |
+
"object_id": [
|
| 176 |
+
[
|
| 177 |
+
"baseball_cap_188",
|
| 178 |
+
"countertop_ikwqer_0"
|
| 179 |
+
]
|
| 180 |
+
],
|
| 181 |
+
"manipulating_object_id": [
|
| 182 |
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"baseball_cap_188"
|
| 183 |
+
],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [
|
| 186 |
+
4056,
|
| 187 |
+
4473
|
| 188 |
+
],
|
| 189 |
+
"mp_ef": [],
|
| 190 |
+
"skill_type": [
|
| 191 |
+
"uncoordinated"
|
| 192 |
+
]
|
| 193 |
+
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| 445 |
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}
|
annotations/episode_00000028.json
ADDED
|
@@ -0,0 +1,445 @@
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| 445 |
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}
|
annotations/episode_00000029.json
ADDED
|
@@ -0,0 +1,445 @@
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| 1 |
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| 2 |
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|
| 444 |
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|
| 445 |
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}
|
annotations/episode_00000031.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 11370,
|
| 6 |
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|
| 7 |
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| 8 |
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11370
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| 9 |
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|
| 10 |
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},
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| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
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1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
+
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|
| 26 |
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|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
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694
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"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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"open door"
|
| 43 |
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],
|
| 44 |
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"object_id": [
|
| 45 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 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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694,
|
| 53 |
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2562
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| 54 |
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],
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| 55 |
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|
| 56 |
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"skill_type": [
|
| 57 |
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"coordinated"
|
| 58 |
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]
|
| 59 |
+
},
|
| 60 |
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{
|
| 61 |
+
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|
| 62 |
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| 63 |
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1
|
| 64 |
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|
| 65 |
+
"skill_description": [
|
| 66 |
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"move to"
|
| 67 |
+
],
|
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|
annotations/episode_00000037.json
ADDED
|
@@ -0,0 +1,412 @@
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| 363 |
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]
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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"primitive_idx": 2,
|
| 367 |
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"primitive_id": [
|
| 368 |
+
12
|
| 369 |
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],
|
| 370 |
+
"primitive_description": [
|
| 371 |
+
"close door"
|
| 372 |
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],
|
| 373 |
+
"object_id": [
|
| 374 |
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[
|
| 375 |
+
"washer_ynwamu_0"
|
| 376 |
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]
|
| 377 |
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],
|
| 378 |
+
"manipulating_object_id": [],
|
| 379 |
+
"spatial_prefix": [],
|
| 380 |
+
"frame_duration": [
|
| 381 |
+
6993,
|
| 382 |
+
7977
|
| 383 |
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],
|
| 384 |
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"skill_idxes": [
|
| 385 |
+
9
|
| 386 |
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]
|
| 387 |
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},
|
| 388 |
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{
|
| 389 |
+
"primitive_idx": 3,
|
| 390 |
+
"primitive_id": [
|
| 391 |
+
69
|
| 392 |
+
],
|
| 393 |
+
"primitive_description": [
|
| 394 |
+
"turn on switch"
|
| 395 |
+
],
|
| 396 |
+
"object_id": [
|
| 397 |
+
[
|
| 398 |
+
"washer_ynwamu_0"
|
| 399 |
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]
|
| 400 |
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],
|
| 401 |
+
"manipulating_object_id": [],
|
| 402 |
+
"spatial_prefix": [],
|
| 403 |
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"frame_duration": [
|
| 404 |
+
7977,
|
| 405 |
+
8513
|
| 406 |
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],
|
| 407 |
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"skill_idxes": [
|
| 408 |
+
10
|
| 409 |
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]
|
| 410 |
+
}
|
| 411 |
+
]
|
| 412 |
+
}
|
annotations/episode_00000038.json
ADDED
|
@@ -0,0 +1,412 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8391,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8391
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
517
|
| 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 |
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[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
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],
|
| 49 |
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"manipulating_object_id": [],
|
| 50 |
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|
| 51 |
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"frame_duration": [
|
| 52 |
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517,
|
| 53 |
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1816
|
| 54 |
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],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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"skill_id": [
|
| 63 |
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1
|
| 64 |
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],
|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"baseball_cap_188"
|
| 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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1816,
|
| 77 |
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2595
|
| 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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{
|
| 85 |
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|
| 86 |
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|
| 87 |
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2
|
| 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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"object_id": [
|
| 93 |
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[
|
| 94 |
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"baseball_cap_188",
|
| 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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2596,
|
| 104 |
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3186
|
| 105 |
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|
| 106 |
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|
| 107 |
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"skill_type": [
|
| 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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"skill_idx": 4,
|
| 113 |
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|
| 114 |
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1
|
| 115 |
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],
|
| 116 |
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|
| 117 |
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"move to"
|
| 118 |
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|
| 119 |
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|
| 120 |
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[
|
| 121 |
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"baseball_cap_189"
|
| 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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3186,
|
| 128 |
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3571
|
| 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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"skill_idx": 5,
|
| 137 |
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|
| 138 |
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2
|
| 139 |
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],
|
| 140 |
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"skill_description": [
|
| 141 |
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"pick up from"
|
| 142 |
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],
|
| 143 |
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"object_id": [
|
| 144 |
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[
|
| 145 |
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"baseball_cap_189",
|
| 146 |
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"countertop_ikwqer_0"
|
| 147 |
+
]
|
| 148 |
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],
|
| 149 |
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"manipulating_object_id": [
|
| 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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3572,
|
| 155 |
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4059
|
| 156 |
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],
|
| 157 |
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"mp_ef": [],
|
| 158 |
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"skill_type": [
|
| 159 |
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"uncoordinated"
|
| 160 |
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]
|
| 161 |
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},
|
| 162 |
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{
|
| 163 |
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"skill_idx": 6,
|
| 164 |
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"skill_id": [
|
| 165 |
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1
|
| 166 |
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],
|
| 167 |
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|
| 168 |
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"move to"
|
| 169 |
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|
| 170 |
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|
| 171 |
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[
|
| 172 |
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"washer_ynwamu_0"
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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4059,
|
| 179 |
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4602
|
| 180 |
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],
|
| 181 |
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|
| 182 |
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"skill_type": [
|
| 183 |
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|
| 184 |
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]
|
| 185 |
+
},
|
| 186 |
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{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
4
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"place in"
|
| 193 |
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],
|
| 194 |
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"object_id": [
|
| 195 |
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[
|
| 196 |
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"baseball_cap_189",
|
| 197 |
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"washer_ynwamu_0"
|
| 198 |
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]
|
| 199 |
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],
|
| 200 |
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"manipulating_object_id": [
|
| 201 |
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"baseball_cap_189"
|
| 202 |
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],
|
| 203 |
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|
| 204 |
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|
| 205 |
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4602,
|
| 206 |
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5545
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 412 |
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}
|
annotations/episode_00000043.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9585,
|
| 6 |
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"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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9585
|
| 9 |
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|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 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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"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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|
| 26 |
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|
| 27 |
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|
| 28 |
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0,
|
| 29 |
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480
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
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|
| 38 |
+
"skill_id": [
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| 39 |
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10
|
| 40 |
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],
|
| 41 |
+
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| 445 |
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}
|
annotations/episode_00000044.json
ADDED
|
@@ -0,0 +1,387 @@
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| 350 |
+
"washer_ynwamu_0"
|
| 351 |
+
]
|
| 352 |
+
],
|
| 353 |
+
"manipulating_object_id": [],
|
| 354 |
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"spatial_prefix": [],
|
| 355 |
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"frame_duration": [
|
| 356 |
+
5370,
|
| 357 |
+
6045
|
| 358 |
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],
|
| 359 |
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"skill_idxes": [
|
| 360 |
+
8
|
| 361 |
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]
|
| 362 |
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},
|
| 363 |
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{
|
| 364 |
+
"primitive_idx": 3,
|
| 365 |
+
"primitive_id": [
|
| 366 |
+
69
|
| 367 |
+
],
|
| 368 |
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"primitive_description": [
|
| 369 |
+
"turn on switch"
|
| 370 |
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],
|
| 371 |
+
"object_id": [
|
| 372 |
+
[
|
| 373 |
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"washer_ynwamu_0"
|
| 374 |
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|
| 375 |
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],
|
| 376 |
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"manipulating_object_id": [],
|
| 377 |
+
"spatial_prefix": [],
|
| 378 |
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"frame_duration": [
|
| 379 |
+
6045,
|
| 380 |
+
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|
| 381 |
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],
|
| 382 |
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"skill_idxes": [
|
| 383 |
+
9
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
]
|
| 387 |
+
}
|
annotations/episode_00000048.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9393,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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9393
|
| 9 |
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]
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
513
|
| 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 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"manipulating_object_id": [],
|
| 50 |
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|
| 51 |
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"frame_duration": [
|
| 52 |
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513,
|
| 53 |
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2025
|
| 54 |
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],
|
| 55 |
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"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
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"coordinated"
|
| 58 |
+
]
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
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"skill_idx": 2,
|
| 62 |
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|
| 63 |
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1
|
| 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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"baseball_cap_188"
|
| 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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2901
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"navigation"
|
| 82 |
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]
|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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|
| 86 |
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|
| 87 |
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2
|
| 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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3356
|
| 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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1
|
| 115 |
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|
| 116 |
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|
| 117 |
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"move to"
|
| 118 |
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|
| 119 |
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|
| 120 |
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[
|
| 121 |
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"baseball_cap_189"
|
| 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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3356,
|
| 128 |
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4165
|
| 129 |
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],
|
| 130 |
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|
| 131 |
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"skill_type": [
|
| 132 |
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"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
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{
|
| 136 |
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"skill_idx": 5,
|
| 137 |
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"skill_id": [
|
| 138 |
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93
|
| 139 |
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],
|
| 140 |
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"skill_description": [
|
| 141 |
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"turn to"
|
| 142 |
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],
|
| 143 |
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"object_id": [
|
| 144 |
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[
|
| 145 |
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"baseball_cap_189",
|
| 146 |
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"robot"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
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"baseball_cap_189"
|
| 151 |
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],
|
| 152 |
+
"spatial_prefix": [
|
| 153 |
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[
|
| 154 |
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"",
|
| 155 |
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"face"
|
| 156 |
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|
| 157 |
+
],
|
| 158 |
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|
| 159 |
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4165,
|
| 160 |
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4968
|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": [
|
| 164 |
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"uncoordinated"
|
| 165 |
+
]
|
| 166 |
+
},
|
| 167 |
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{
|
| 168 |
+
"skill_idx": 6,
|
| 169 |
+
"skill_id": [
|
| 170 |
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2
|
| 171 |
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],
|
| 172 |
+
"skill_description": [
|
| 173 |
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"pick up from"
|
| 174 |
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],
|
| 175 |
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"object_id": [
|
| 176 |
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[
|
| 177 |
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"baseball_cap_189",
|
| 178 |
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"countertop_ikwqer_0"
|
| 179 |
+
]
|
| 180 |
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],
|
| 181 |
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"manipulating_object_id": [
|
| 182 |
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"baseball_cap_189"
|
| 183 |
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],
|
| 184 |
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|
| 185 |
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"frame_duration": [
|
| 186 |
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4969,
|
| 187 |
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5391
|
| 188 |
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],
|
| 189 |
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"mp_ef": [],
|
| 190 |
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"skill_type": [
|
| 191 |
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"uncoordinated"
|
| 192 |
+
]
|
| 193 |
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},
|
| 194 |
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{
|
| 195 |
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"skill_idx": 7,
|
| 196 |
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|
| 197 |
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1
|
| 198 |
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],
|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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"object_id": [
|
| 203 |
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[
|
| 204 |
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"washer_ynwamu_0"
|
| 205 |
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| 206 |
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| 208 |
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| 209 |
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| 210 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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| 219 |
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| 220 |
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| 221 |
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|
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| 224 |
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|
| 225 |
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| 226 |
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| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
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|
| 232 |
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|
| 233 |
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| 236 |
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| 237 |
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|
| 238 |
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|
| 242 |
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|
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| 431 |
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| 432 |
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| 435 |
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|
| 442 |
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|
| 443 |
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|
| 444 |
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]
|
| 445 |
+
}
|
annotations/episode_00000051.json
ADDED
|
@@ -0,0 +1,445 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
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}
|
annotations/episode_00000052.json
ADDED
|
@@ -0,0 +1,412 @@
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| 1 |
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| 2 |
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|
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|
| 411 |
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|
| 412 |
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}
|
annotations/episode_00000057.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6888,
|
| 6 |
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"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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6888
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
+
"object_id": [
|
| 21 |
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[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
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|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
380
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
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"skill_id": [
|
| 39 |
+
10
|
| 40 |
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],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
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],
|
| 44 |
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"object_id": [
|
| 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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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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"mp_ef": [],
|
| 56 |
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|
| 57 |
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"coordinated"
|
| 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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1
|
| 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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"baseball_cap_188"
|
| 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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1893,
|
| 77 |
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2430
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"navigation"
|
| 82 |
+
]
|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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|
| 86 |
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|
| 87 |
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93
|
| 88 |
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],
|
| 89 |
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|
| 90 |
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"turn to"
|
| 91 |
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|
| 92 |
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|
| 93 |
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[
|
| 94 |
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"baseball_cap_188",
|
| 95 |
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|
| 96 |
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]
|
| 97 |
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|
| 98 |
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"manipulating_object_id": [
|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"spatial_prefix": [
|
| 102 |
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[
|
| 103 |
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"",
|
| 104 |
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"face"
|
| 105 |
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|
| 106 |
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],
|
| 107 |
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|
| 108 |
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2430,
|
| 109 |
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2884
|
| 110 |
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|
| 111 |
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"mp_ef": [],
|
| 112 |
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"skill_type": [
|
| 113 |
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"uncoordinated"
|
| 114 |
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]
|
| 115 |
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},
|
| 116 |
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{
|
| 117 |
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"skill_idx": 4,
|
| 118 |
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|
| 119 |
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2
|
| 120 |
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],
|
| 121 |
+
"skill_description": [
|
| 122 |
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"pick up from"
|
| 123 |
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],
|
| 124 |
+
"object_id": [
|
| 125 |
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[
|
| 126 |
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"baseball_cap_188",
|
| 127 |
+
"countertop_ikwqer_0"
|
| 128 |
+
]
|
| 129 |
+
],
|
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|
annotations/episode_00000059.json
ADDED
|
@@ -0,0 +1,478 @@
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| 391 |
+
"baseball_cap_188",
|
| 392 |
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"baseball_cap_189"
|
| 393 |
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],
|
| 394 |
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"countertop_ikwqer_0"
|
| 395 |
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],
|
| 396 |
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[
|
| 397 |
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[
|
| 398 |
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"baseball_cap_189",
|
| 399 |
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"baseball_cap_188"
|
| 400 |
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],
|
| 401 |
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"washer_ynwamu_0"
|
| 402 |
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]
|
| 403 |
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|
| 404 |
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|
| 405 |
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[
|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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[
|
| 410 |
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"baseball_cap_189",
|
| 411 |
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|
| 412 |
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|
| 413 |
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|
| 414 |
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|
| 415 |
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| 416 |
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|
| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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2,
|
| 421 |
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|
| 422 |
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|
| 423 |
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|
| 424 |
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6,
|
| 425 |
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7,
|
| 426 |
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|
| 427 |
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|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 431 |
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{
|
| 432 |
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|
| 433 |
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| 434 |
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|
| 435 |
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|
| 436 |
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|
| 437 |
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|
| 438 |
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|
| 439 |
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|
| 440 |
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[
|
| 441 |
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|
| 442 |
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|
| 443 |
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|
| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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7511,
|
| 448 |
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|
| 449 |
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|
| 450 |
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|
| 451 |
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|
| 452 |
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]
|
| 453 |
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|
| 454 |
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{
|
| 455 |
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"primitive_idx": 3,
|
| 456 |
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"primitive_id": [
|
| 457 |
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69
|
| 458 |
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],
|
| 459 |
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"primitive_description": [
|
| 460 |
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"turn on switch"
|
| 461 |
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],
|
| 462 |
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"object_id": [
|
| 463 |
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[
|
| 464 |
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"washer_ynwamu_0"
|
| 465 |
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|
| 466 |
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],
|
| 467 |
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"manipulating_object_id": [],
|
| 468 |
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"spatial_prefix": [],
|
| 469 |
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"frame_duration": [
|
| 470 |
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|
| 471 |
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|
| 472 |
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|
| 473 |
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|
| 474 |
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|
| 475 |
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]
|
| 476 |
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}
|
| 477 |
+
]
|
| 478 |
+
}
|
annotations/episode_00000062.json
ADDED
|
@@ -0,0 +1,445 @@
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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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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10035,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
10035
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
210
|
| 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 |
+
"washer_ynwamu_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
210,
|
| 53 |
+
1781
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
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|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
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[
|
| 70 |
+
"baseball_cap_188"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1781,
|
| 77 |
+
2671
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"baseball_cap_188",
|
| 95 |
+
"countertop_ikwqer_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"baseball_cap_188"
|
| 100 |
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],
|
| 101 |
+
"spatial_prefix": [],
|
| 102 |
+
"frame_duration": [
|
| 103 |
+
2671,
|
| 104 |
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3948
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"baseball_cap_189"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
3948,
|
| 128 |
+
4443
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
93
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"turn to"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"baseball_cap_189",
|
| 146 |
+
"robot"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"baseball_cap_189"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [
|
| 153 |
+
[
|
| 154 |
+
"",
|
| 155 |
+
"face"
|
| 156 |
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|
annotations/episode_00000063.json
ADDED
|
@@ -0,0 +1,420 @@
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|
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|
| 420 |
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}
|
annotations/episode_00000069.json
ADDED
|
@@ -0,0 +1,445 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
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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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| 18 |
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| 19 |
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| 26 |
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| 27 |
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| 32 |
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| 33 |
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| 36 |
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| 167 |
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| 270 |
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|
| 444 |
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|
| 445 |
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}
|
annotations/episode_00000076.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9537,
|
| 6 |
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|
| 7 |
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63,
|
| 8 |
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9600
|
| 9 |
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|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
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1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
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|
| 24 |
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],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
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|
| 27 |
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|
| 28 |
+
63,
|
| 29 |
+
380
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
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10
|
| 40 |
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],
|
| 41 |
+
"skill_description": [
|
| 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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"washer_ynwamu_0"
|
| 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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380,
|
| 53 |
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1630
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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"coordinated"
|
| 58 |
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]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
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|
| 62 |
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| 63 |
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1
|
| 64 |
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|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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|
| 68 |
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|
annotations/episode_00000083.json
ADDED
|
@@ -0,0 +1,420 @@
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|
| 359 |
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|
| 360 |
+
1577,
|
| 361 |
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6384
|
| 362 |
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],
|
| 363 |
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"skill_idxes": [
|
| 364 |
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2,
|
| 365 |
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3,
|
| 366 |
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4,
|
| 367 |
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5,
|
| 368 |
+
6,
|
| 369 |
+
7,
|
| 370 |
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8
|
| 371 |
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|
| 372 |
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|
| 373 |
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{
|
| 374 |
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"primitive_idx": 2,
|
| 375 |
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"primitive_id": [
|
| 376 |
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12
|
| 377 |
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],
|
| 378 |
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"primitive_description": [
|
| 379 |
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"close door"
|
| 380 |
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],
|
| 381 |
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"object_id": [
|
| 382 |
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[
|
| 383 |
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"washer_ynwamu_0"
|
| 384 |
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]
|
| 385 |
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],
|
| 386 |
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"manipulating_object_id": [],
|
| 387 |
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"spatial_prefix": [],
|
| 388 |
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"frame_duration": [
|
| 389 |
+
6384,
|
| 390 |
+
6981
|
| 391 |
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],
|
| 392 |
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"skill_idxes": [
|
| 393 |
+
9
|
| 394 |
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]
|
| 395 |
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},
|
| 396 |
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{
|
| 397 |
+
"primitive_idx": 3,
|
| 398 |
+
"primitive_id": [
|
| 399 |
+
69
|
| 400 |
+
],
|
| 401 |
+
"primitive_description": [
|
| 402 |
+
"turn on switch"
|
| 403 |
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],
|
| 404 |
+
"object_id": [
|
| 405 |
+
[
|
| 406 |
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"washer_ynwamu_0"
|
| 407 |
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]
|
| 408 |
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],
|
| 409 |
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"manipulating_object_id": [],
|
| 410 |
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"spatial_prefix": [],
|
| 411 |
+
"frame_duration": [
|
| 412 |
+
6981,
|
| 413 |
+
7334
|
| 414 |
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],
|
| 415 |
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"skill_idxes": [
|
| 416 |
+
10
|
| 417 |
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]
|
| 418 |
+
}
|
| 419 |
+
]
|
| 420 |
+
}
|
annotations/episode_00000085.json
ADDED
|
@@ -0,0 +1,445 @@
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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": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7392,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
7392
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
504
|
| 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 |
+
"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
505,
|
| 53 |
+
1567
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
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1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"baseball_cap_189"
|
| 71 |
+
]
|
| 72 |
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],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
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"spatial_prefix": [],
|
| 75 |
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"frame_duration": [
|
| 76 |
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1567,
|
| 77 |
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2074
|
| 78 |
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],
|
| 79 |
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"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
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{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
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|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
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[
|
| 94 |
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"baseball_cap_189",
|
| 95 |
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"countertop_ikwqer_0"
|
| 96 |
+
]
|
| 97 |
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],
|
| 98 |
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"manipulating_object_id": [
|
| 99 |
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"baseball_cap_189"
|
| 100 |
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],
|
| 101 |
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|
| 102 |
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"frame_duration": [
|
| 103 |
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2074,
|
| 104 |
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2387
|
| 105 |
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],
|
| 106 |
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"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"baseball_cap_188"
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"spatial_prefix": [],
|
| 126 |
+
"frame_duration": [
|
| 127 |
+
2387,
|
| 128 |
+
2905
|
| 129 |
+
],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
"skill_type": [
|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
93
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"turn to"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"baseball_cap_188",
|
| 146 |
+
"robot"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"baseball_cap_188"
|
| 151 |
+
],
|
| 152 |
+
"spatial_prefix": [
|
| 153 |
+
[
|
| 154 |
+
"",
|
| 155 |
+
"face"
|
| 156 |
+
]
|
| 157 |
+
],
|
| 158 |
+
"frame_duration": [
|
| 159 |
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2905,
|
| 160 |
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3638
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": [
|
| 164 |
+
"uncoordinated"
|
| 165 |
+
]
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"skill_idx": 6,
|
| 169 |
+
"skill_id": [
|
| 170 |
+
2
|
| 171 |
+
],
|
| 172 |
+
"skill_description": [
|
| 173 |
+
"pick up from"
|
| 174 |
+
],
|
| 175 |
+
"object_id": [
|
| 176 |
+
[
|
| 177 |
+
"baseball_cap_188",
|
| 178 |
+
"countertop_ikwqer_0"
|
| 179 |
+
]
|
| 180 |
+
],
|
| 181 |
+
"manipulating_object_id": [
|
| 182 |
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| 445 |
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}
|
annotations/episode_00000086.json
ADDED
|
@@ -0,0 +1,420 @@
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}
|
annotations/episode_00000087.json
ADDED
|
@@ -0,0 +1,445 @@
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| 1 |
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|
| 2 |
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|
| 3 |
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| 296 |
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| 297 |
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| 298 |
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| 299 |
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| 317 |
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| 328 |
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| 442 |
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| 443 |
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|
| 444 |
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|
| 445 |
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}
|
annotations/episode_00000088.json
ADDED
|
@@ -0,0 +1,478 @@
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7359,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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7359
|
| 9 |
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]
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
258
|
| 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 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 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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"frame_duration": [
|
| 52 |
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258,
|
| 53 |
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1403
|
| 54 |
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],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
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1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
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"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
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[
|
| 70 |
+
"baseball_cap_188"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1403,
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|
annotations/episode_00000090.json
ADDED
|
@@ -0,0 +1,478 @@
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| 1 |
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| 2 |
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| 313 |
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| 325 |
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|
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|
| 476 |
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|
| 477 |
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|
| 478 |
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}
|
annotations/episode_00000091.json
ADDED
|
@@ -0,0 +1,420 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8403,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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8403
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
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[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
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"spatial_prefix": [],
|
| 27 |
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"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
823
|
| 30 |
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],
|
| 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 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 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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|
| 53 |
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2152
|
| 54 |
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],
|
| 55 |
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"mp_ef": [],
|
| 56 |
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"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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|
| 63 |
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1
|
| 64 |
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],
|
| 65 |
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"skill_description": [
|
| 66 |
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"move to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"baseball_cap_189"
|
| 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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"frame_duration": [
|
| 76 |
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2152,
|
| 77 |
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2974
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| 78 |
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],
|
| 79 |
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"mp_ef": [],
|
| 80 |
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"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
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}
|
annotations/episode_00000092.json
ADDED
|
@@ -0,0 +1,445 @@
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| 387 |
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|
| 388 |
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2,
|
| 389 |
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3,
|
| 390 |
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|
| 391 |
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|
| 392 |
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6,
|
| 393 |
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|
| 394 |
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8,
|
| 395 |
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|
| 396 |
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|
| 397 |
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|
| 398 |
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{
|
| 399 |
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|
| 400 |
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|
| 401 |
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12
|
| 402 |
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|
| 403 |
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|
| 404 |
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"close door"
|
| 405 |
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|
| 406 |
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"object_id": [
|
| 407 |
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[
|
| 408 |
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"washer_ynwamu_0"
|
| 409 |
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]
|
| 410 |
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],
|
| 411 |
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|
| 412 |
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|
| 413 |
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"frame_duration": [
|
| 414 |
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7406,
|
| 415 |
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|
| 416 |
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|
| 417 |
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|
| 418 |
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10
|
| 419 |
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|
| 420 |
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|
| 421 |
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{
|
| 422 |
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"primitive_idx": 3,
|
| 423 |
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"primitive_id": [
|
| 424 |
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69
|
| 425 |
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],
|
| 426 |
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"primitive_description": [
|
| 427 |
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"turn on switch"
|
| 428 |
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],
|
| 429 |
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"object_id": [
|
| 430 |
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[
|
| 431 |
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"washer_ynwamu_0"
|
| 432 |
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|
| 433 |
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|
| 434 |
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"manipulating_object_id": [],
|
| 435 |
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|
| 436 |
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|
| 437 |
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|
| 438 |
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|
| 439 |
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|
| 440 |
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|
| 441 |
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11
|
| 442 |
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]
|
| 443 |
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}
|
| 444 |
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]
|
| 445 |
+
}
|
annotations/episode_00000093.json
ADDED
|
@@ -0,0 +1,387 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7602,
|
| 6 |
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"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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7602
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
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|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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"washer_ynwamu_0"
|
| 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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"frame_duration": [
|
| 28 |
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0,
|
| 29 |
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192
|
| 30 |
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],
|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 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 |
+
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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|
| 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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|
| 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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"coordinated"
|
| 58 |
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]
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
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"skill_idx": 2,
|
| 62 |
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|
| 63 |
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1
|
| 64 |
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],
|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"baseball_cap_189"
|
| 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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2514
|
| 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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{
|
| 85 |
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|
| 86 |
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|
| 87 |
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2
|
| 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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2
|
| 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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|
| 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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3516
|
| 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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|
| 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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1
|
| 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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|
| 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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3516,
|
| 155 |
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3883
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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]
|
| 161 |
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},
|
| 162 |
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{
|
| 163 |
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"skill_idx": 6,
|
| 164 |
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|
| 165 |
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4
|
| 166 |
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],
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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[
|
| 172 |
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|
| 173 |
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|
| 174 |
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]
|
| 175 |
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],
|
| 176 |
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"manipulating_object_id": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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3884,
|
| 182 |
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4706
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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4
|
| 193 |
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],
|
| 194 |
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|
| 195 |
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"place in"
|
| 196 |
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|
| 197 |
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|
| 198 |
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[
|
| 199 |
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|
| 200 |
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|
| 201 |
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]
|
| 202 |
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],
|
| 203 |
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|
| 204 |
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"baseball_cap_189"
|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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4706,
|
| 209 |
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5643
|
| 210 |
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|
| 211 |
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"mp_ef": [],
|
| 212 |
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"skill_type": [
|
| 213 |
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"uncoordinated"
|
| 214 |
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| 296 |
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|
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|
| 386 |
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]
|
| 387 |
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}
|
annotations/episode_00000096.json
ADDED
|
@@ -0,0 +1,478 @@
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|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7788,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
46,
|
| 8 |
+
7834
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
46,
|
| 29 |
+
100
|
| 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 |
+
"washer_ynwamu_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
100,
|
| 53 |
+
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}
|
annotations/episode_00000102.json
ADDED
|
@@ -0,0 +1,420 @@
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|
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|
| 419 |
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|
| 420 |
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}
|
annotations/episode_00000103.json
ADDED
|
@@ -0,0 +1,387 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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10357
|
| 9 |
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|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
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10
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
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"open door"
|
| 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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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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3443
|
| 30 |
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|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 33 |
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"coordinated"
|
| 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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|
| 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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| 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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|
| 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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|
| 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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| 129 |
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| 131 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 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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|
| 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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|
| 160 |
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|
| 161 |
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|
| 162 |
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{
|
| 163 |
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|
| 164 |
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| 165 |
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|
| 166 |
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| 168 |
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| 387 |
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|
annotations/episode_00000104.json
ADDED
|
@@ -0,0 +1,453 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 6510,
|
| 6 |
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|
| 7 |
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|
| 8 |
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6510
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| 9 |
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|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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],
|
| 17 |
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| 453 |
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}
|
annotations/episode_00000105.json
ADDED
|
@@ -0,0 +1,445 @@
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| 1 |
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| 2 |
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| 445 |
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}
|
annotations/episode_00000106.json
ADDED
|
@@ -0,0 +1,412 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 6994,
|
| 6 |
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|
| 7 |
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|
| 8 |
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6994
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 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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"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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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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450
|
| 30 |
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|
| 31 |
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"mp_ef": [],
|
| 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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|
| 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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|
| 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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2551
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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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{
|
| 85 |
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|
| 86 |
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| 87 |
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2
|
| 88 |
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|
| 89 |
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"skill_description": [
|
| 90 |
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"pick up from"
|
| 91 |
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],
|
| 92 |
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"object_id": [
|
| 93 |
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[
|
| 94 |
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"baseball_cap_189",
|
| 95 |
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|
| 96 |
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]
|
| 97 |
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],
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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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|
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}
|
annotations/episode_00000107.json
ADDED
|
@@ -0,0 +1,445 @@
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+
6215,
|
| 415 |
+
6951
|
| 416 |
+
],
|
| 417 |
+
"skill_idxes": [
|
| 418 |
+
10
|
| 419 |
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]
|
| 420 |
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},
|
| 421 |
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{
|
| 422 |
+
"primitive_idx": 3,
|
| 423 |
+
"primitive_id": [
|
| 424 |
+
69
|
| 425 |
+
],
|
| 426 |
+
"primitive_description": [
|
| 427 |
+
"turn on switch"
|
| 428 |
+
],
|
| 429 |
+
"object_id": [
|
| 430 |
+
[
|
| 431 |
+
"washer_ynwamu_0"
|
| 432 |
+
]
|
| 433 |
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],
|
| 434 |
+
"manipulating_object_id": [],
|
| 435 |
+
"spatial_prefix": [],
|
| 436 |
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"frame_duration": [
|
| 437 |
+
6951,
|
| 438 |
+
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|
| 439 |
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],
|
| 440 |
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"skill_idxes": [
|
| 441 |
+
11
|
| 442 |
+
]
|
| 443 |
+
}
|
| 444 |
+
]
|
| 445 |
+
}
|
annotations/episode_00000109.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8114,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
144,
|
| 8 |
+
8258
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
144,
|
| 29 |
+
849
|
| 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 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"manipulating_object_id": [],
|
| 50 |
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|
| 51 |
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"frame_duration": [
|
| 52 |
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849,
|
| 53 |
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|
| 54 |
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],
|
| 55 |
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"mp_ef": [],
|
| 56 |
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"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
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]
|
| 59 |
+
},
|
| 60 |
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{
|
| 61 |
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"skill_idx": 2,
|
| 62 |
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|
| 63 |
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1
|
| 64 |
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|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"baseball_cap_188"
|
| 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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2663
|
| 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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{
|
| 85 |
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|
| 86 |
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|
| 87 |
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93
|
| 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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3692
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"uncoordinated"
|
| 114 |
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]
|
| 115 |
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},
|
| 116 |
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{
|
| 117 |
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"skill_idx": 4,
|
| 118 |
+
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|
| 119 |
+
2
|
| 120 |
+
],
|
| 121 |
+
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|
| 122 |
+
"pick up from"
|
| 123 |
+
],
|
| 124 |
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|
| 125 |
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[
|
| 126 |
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"baseball_cap_188",
|
| 127 |
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"countertop_ikwqer_0"
|
| 128 |
+
]
|
| 129 |
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],
|
| 130 |
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"manipulating_object_id": [
|
| 131 |
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"baseball_cap_188"
|
| 132 |
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],
|
| 133 |
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|
| 134 |
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|
| 135 |
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3692,
|
| 136 |
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3905
|
| 137 |
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],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": [
|
| 140 |
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"uncoordinated"
|
| 141 |
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]
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
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"skill_idx": 5,
|
| 145 |
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"skill_id": [
|
| 146 |
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1
|
| 147 |
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],
|
| 148 |
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|
| 149 |
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"move to"
|
| 150 |
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],
|
| 151 |
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|
| 152 |
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[
|
| 153 |
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"baseball_cap_189"
|
| 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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3905,
|
| 160 |
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4775
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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]
|
| 166 |
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},
|
| 167 |
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{
|
| 168 |
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"skill_idx": 6,
|
| 169 |
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"skill_id": [
|
| 170 |
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2
|
| 171 |
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],
|
| 172 |
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|
| 173 |
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"pick up from"
|
| 174 |
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],
|
| 175 |
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"object_id": [
|
| 176 |
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[
|
| 177 |
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"baseball_cap_189",
|
| 178 |
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"countertop_ikwqer_0"
|
| 179 |
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]
|
| 180 |
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|
| 181 |
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|
| 182 |
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"baseball_cap_189"
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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4776,
|
| 187 |
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5309
|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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]
|
| 193 |
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|
| 194 |
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{
|
| 195 |
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|
| 196 |
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|
| 197 |
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1
|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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[
|
| 204 |
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"washer_ynwamu_0"
|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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| 210 |
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|
| 211 |
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5692
|
| 212 |
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| 213 |
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| 214 |
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| 215 |
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| 216 |
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| 220 |
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| 221 |
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|
| 222 |
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| 224 |
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|
| 225 |
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| 226 |
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| 227 |
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| 228 |
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|
| 229 |
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| 230 |
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|
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|
| 232 |
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| 233 |
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| 236 |
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|
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|
| 443 |
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|
| 444 |
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|
| 445 |
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}
|
annotations/episode_00000153.json
ADDED
|
@@ -0,0 +1,453 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
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|
| 453 |
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}
|
annotations/episode_00000154.json
ADDED
|
@@ -0,0 +1,445 @@
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| 1 |
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| 2 |
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|
| 444 |
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|
| 445 |
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}
|
annotations/episode_00000155.json
ADDED
|
@@ -0,0 +1,412 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8061,
|
| 6 |
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|
| 7 |
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0,
|
| 8 |
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8061
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
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1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
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"manipulating_object_id": [],
|
| 26 |
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"spatial_prefix": [],
|
| 27 |
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"frame_duration": [
|
| 28 |
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0,
|
| 29 |
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349
|
| 30 |
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],
|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 33 |
+
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|
| 34 |
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]
|
| 35 |
+
},
|
| 36 |
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{
|
| 37 |
+
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|
| 38 |
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|
| 39 |
+
10
|
| 40 |
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],
|
| 41 |
+
"skill_description": [
|
| 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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| 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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"coordinated"
|
| 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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1
|
| 64 |
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|
| 65 |
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"skill_description": [
|
| 66 |
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"move to"
|
| 67 |
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|
| 68 |
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|
| 69 |
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[
|
| 70 |
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"baseball_cap_188"
|
| 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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2404
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"navigation"
|
| 82 |
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]
|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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|
| 86 |
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|
| 87 |
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2
|
| 88 |
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],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
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|
annotations/episode_00000161.json
ADDED
|
@@ -0,0 +1,445 @@
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| 403 |
+
"primitive_description": [
|
| 404 |
+
"close door"
|
| 405 |
+
],
|
| 406 |
+
"object_id": [
|
| 407 |
+
[
|
| 408 |
+
"washer_ynwamu_0"
|
| 409 |
+
]
|
| 410 |
+
],
|
| 411 |
+
"manipulating_object_id": [],
|
| 412 |
+
"spatial_prefix": [],
|
| 413 |
+
"frame_duration": [
|
| 414 |
+
5923,
|
| 415 |
+
6524
|
| 416 |
+
],
|
| 417 |
+
"skill_idxes": [
|
| 418 |
+
10
|
| 419 |
+
]
|
| 420 |
+
},
|
| 421 |
+
{
|
| 422 |
+
"primitive_idx": 3,
|
| 423 |
+
"primitive_id": [
|
| 424 |
+
69
|
| 425 |
+
],
|
| 426 |
+
"primitive_description": [
|
| 427 |
+
"turn on switch"
|
| 428 |
+
],
|
| 429 |
+
"object_id": [
|
| 430 |
+
[
|
| 431 |
+
"washer_ynwamu_0"
|
| 432 |
+
]
|
| 433 |
+
],
|
| 434 |
+
"manipulating_object_id": [],
|
| 435 |
+
"spatial_prefix": [],
|
| 436 |
+
"frame_duration": [
|
| 437 |
+
6524,
|
| 438 |
+
7434
|
| 439 |
+
],
|
| 440 |
+
"skill_idxes": [
|
| 441 |
+
11
|
| 442 |
+
]
|
| 443 |
+
}
|
| 444 |
+
]
|
| 445 |
+
}
|
annotations/episode_00000162.json
ADDED
|
@@ -0,0 +1,478 @@
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8442,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
8442
|
| 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 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
582
|
| 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 |
+
"washer_ynwamu_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
582,
|
| 53 |
+
1797
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"baseball_cap_189"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1797,
|
| 77 |
+
2504
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
93
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"turn to"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"baseball_cap_189",
|
| 95 |
+
"robot"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"baseball_cap_189"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [
|
| 102 |
+
[
|
| 103 |
+
"",
|
| 104 |
+
"face"
|
| 105 |
+
]
|
| 106 |
+
],
|
| 107 |
+
"frame_duration": [
|
| 108 |
+
2504,
|
| 109 |
+
2904
|
| 110 |
+
],
|
| 111 |
+
"mp_ef": [],
|
| 112 |
+
"skill_type": [
|
| 113 |
+
"uncoordinated"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"skill_idx": 4,
|
| 118 |
+
"skill_id": [
|
| 119 |
+
2
|
| 120 |
+
],
|
| 121 |
+
"skill_description": [
|
| 122 |
+
"pick up from"
|
| 123 |
+
],
|
| 124 |
+
"object_id": [
|
| 125 |
+
[
|
| 126 |
+
"baseball_cap_189",
|
| 127 |
+
"countertop_ikwqer_0"
|
| 128 |
+
]
|
| 129 |
+
],
|
| 130 |
+
"manipulating_object_id": [
|
| 131 |
+
"baseball_cap_189"
|
| 132 |
+
],
|
| 133 |
+
"spatial_prefix": [],
|
| 134 |
+
"frame_duration": [
|
| 135 |
+
2904,
|
| 136 |
+
3366
|
| 137 |
+
],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": [
|
| 140 |
+
"uncoordinated"
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"skill_idx": 5,
|
| 145 |
+
"skill_id": [
|
| 146 |
+
1
|
| 147 |
+
],
|
| 148 |
+
"skill_description": [
|
| 149 |
+
"move to"
|
| 150 |
+
],
|
| 151 |
+
"object_id": [
|
| 152 |
+
[
|
| 153 |
+
"baseball_cap_188"
|
| 154 |
+
]
|
| 155 |
+
],
|
| 156 |
+
"manipulating_object_id": [],
|
| 157 |
+
"spatial_prefix": [],
|
| 158 |
+
"frame_duration": [
|
| 159 |
+
3366,
|
| 160 |
+
4156
|
| 161 |
+
],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": [
|
| 164 |
+
"navigation"
|
| 165 |
+
]
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"skill_idx": 6,
|
| 169 |
+
"skill_id": [
|
| 170 |
+
93
|
| 171 |
+
],
|
| 172 |
+
"skill_description": [
|
| 173 |
+
"turn to"
|
| 174 |
+
],
|
| 175 |
+
"object_id": [
|
| 176 |
+
[
|
| 177 |
+
"baseball_cap_188",
|
| 178 |
+
"robot"
|
| 179 |
+
]
|
| 180 |
+
],
|
| 181 |
+
"manipulating_object_id": [
|
| 182 |
+
"baseball_cap_188"
|
| 183 |
+
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|
annotations/episode_00000164.json
ADDED
|
@@ -0,0 +1,445 @@
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|
| 430 |
+
[
|
| 431 |
+
"washer_ynwamu_0"
|
| 432 |
+
]
|
| 433 |
+
],
|
| 434 |
+
"manipulating_object_id": [],
|
| 435 |
+
"spatial_prefix": [],
|
| 436 |
+
"frame_duration": [
|
| 437 |
+
8256,
|
| 438 |
+
9176
|
| 439 |
+
],
|
| 440 |
+
"skill_idxes": [
|
| 441 |
+
11
|
| 442 |
+
]
|
| 443 |
+
}
|
| 444 |
+
]
|
| 445 |
+
}
|