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- annotations/episode_00000007.json +478 -0
- annotations/episode_00000067.json +445 -0
- annotations/episode_00000208.json +445 -0
- annotations/episode_00000222.json +478 -0
- annotations/episode_00000245.json +420 -0
- meta/sim/episode_00000001.json +0 -0
- meta/sim/episode_00000003.json +0 -0
- meta/sim/episode_00000004.json +0 -0
- meta/sim/episode_00000006.json +0 -0
- meta/sim/episode_00000009.json +0 -0
- meta/sim/episode_00000011.json +0 -0
- meta/sim/episode_00000019.json +0 -0
- meta/sim/episode_00000022.json +0 -0
- meta/sim/episode_00000024.json +0 -0
- meta/sim/episode_00000027.json +0 -0
- meta/sim/episode_00000030.json +0 -0
- meta/sim/episode_00000031.json +0 -0
- meta/sim/episode_00000035.json +0 -0
- meta/sim/episode_00000042.json +0 -0
- meta/sim/episode_00000043.json +0 -0
- meta/sim/episode_00000044.json +0 -0
- meta/sim/episode_00000049.json +0 -0
- meta/sim/episode_00000050.json +0 -0
- meta/sim/episode_00000051.json +0 -0
- meta/sim/episode_00000054.json +0 -0
- meta/sim/episode_00000055.json +0 -0
- meta/sim/episode_00000058.json +0 -0
- meta/sim/episode_00000060.json +0 -0
- meta/sim/episode_00000065.json +0 -0
- meta/sim/episode_00000070.json +0 -0
- meta/sim/episode_00000073.json +0 -0
- meta/sim/episode_00000075.json +0 -0
- meta/sim/episode_00000076.json +0 -0
- meta/sim/episode_00000078.json +0 -0
- meta/sim/episode_00000080.json +0 -0
- meta/sim/episode_00000083.json +0 -0
- meta/sim/episode_00000085.json +0 -0
- meta/sim/episode_00000086.json +0 -0
- meta/sim/episode_00000087.json +0 -0
- meta/sim/episode_00000095.json +0 -0
- meta/sim/episode_00000097.json +0 -0
- meta/sim/episode_00000102.json +0 -0
- meta/sim/episode_00000103.json +0 -0
- meta/sim/episode_00000105.json +0 -0
- meta/sim/episode_00000106.json +0 -0
- meta/sim/episode_00000110.json +0 -0
- meta/sim/episode_00000151.json +0 -0
- meta/sim/episode_00000153.json +0 -0
- meta/sim/episode_00000154.json +0 -0
- meta/sim/episode_00000155.json +0 -0
annotations/episode_00000007.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"task_name": "wash a baseball cap",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10041,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
84,
|
| 8 |
+
10125
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
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1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
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"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
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],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
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"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
84,
|
| 29 |
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941
|
| 30 |
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],
|
| 31 |
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"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"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 |
+
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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"manipulating_object_id": [],
|
| 50 |
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"spatial_prefix": [],
|
| 51 |
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"frame_duration": [
|
| 52 |
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941,
|
| 53 |
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2312
|
| 54 |
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],
|
| 55 |
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"mp_ef": [],
|
| 56 |
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"skill_type": [
|
| 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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"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 |
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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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2312,
|
| 77 |
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3182
|
| 78 |
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],
|
| 79 |
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"mp_ef": [],
|
| 80 |
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"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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"skill_idx": 3,
|
| 86 |
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"skill_id": [
|
| 87 |
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93
|
| 88 |
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],
|
| 89 |
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"skill_description": [
|
| 90 |
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"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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"countertop_ikwqer_0"
|
| 96 |
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]
|
| 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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"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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"frame_duration": [
|
| 108 |
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3182,
|
| 109 |
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3848
|
| 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 |
+
"skill_idx": 4,
|
| 118 |
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"skill_id": [
|
| 119 |
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2
|
| 120 |
+
],
|
| 121 |
+
"skill_description": [
|
| 122 |
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"pick up from"
|
| 123 |
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],
|
| 124 |
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"object_id": [
|
| 125 |
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[
|
| 126 |
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"baseball_cap_189",
|
| 127 |
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"countertop_ikwqer_0"
|
| 128 |
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]
|
| 129 |
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],
|
| 130 |
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"manipulating_object_id": [
|
| 131 |
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"baseball_cap_189"
|
| 132 |
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],
|
| 133 |
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"spatial_prefix": [],
|
| 134 |
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"frame_duration": [
|
| 135 |
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3848,
|
| 136 |
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4430
|
| 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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"skill_description": [
|
| 149 |
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"move to"
|
| 150 |
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],
|
| 151 |
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"object_id": [
|
| 152 |
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[
|
| 153 |
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"baseball_cap_188"
|
| 154 |
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]
|
| 155 |
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],
|
| 156 |
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"manipulating_object_id": [],
|
| 157 |
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"spatial_prefix": [],
|
| 158 |
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"frame_duration": [
|
| 159 |
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4430,
|
| 160 |
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5147
|
| 161 |
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],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": [
|
| 164 |
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"navigation"
|
| 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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93
|
| 171 |
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],
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| 172 |
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}
|
annotations/episode_00000067.json
ADDED
|
@@ -0,0 +1,445 @@
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"skill_idxes": [
|
| 418 |
+
10
|
| 419 |
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]
|
| 420 |
+
},
|
| 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 |
+
6543,
|
| 438 |
+
7329
|
| 439 |
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],
|
| 440 |
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"skill_idxes": [
|
| 441 |
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11
|
| 442 |
+
]
|
| 443 |
+
}
|
| 444 |
+
]
|
| 445 |
+
}
|
annotations/episode_00000208.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": 7287,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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7287
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
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|
| 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 |
+
758
|
| 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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759,
|
| 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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|
| 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_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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2559
|
| 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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|
| 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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"skill_idx": 4,
|
| 118 |
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|
| 119 |
+
2
|
| 120 |
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],
|
| 121 |
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|
| 122 |
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"pick up from"
|
| 123 |
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],
|
| 124 |
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|
| 125 |
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[
|
| 126 |
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"baseball_cap_189",
|
| 127 |
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|
| 128 |
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]
|
| 129 |
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],
|
| 130 |
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"manipulating_object_id": [
|
| 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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3066,
|
| 136 |
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3400
|
| 137 |
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],
|
| 138 |
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|
| 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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|
| 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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|
| 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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4116
|
| 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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|
| 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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|
| 176 |
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[
|
| 177 |
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"baseball_cap_188",
|
| 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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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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4116,
|
| 187 |
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4453
|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
+
]
|
| 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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|
| 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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|
| 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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| 227 |
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| 228 |
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|
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| 232 |
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|
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|
| 444 |
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|
| 445 |
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}
|
annotations/episode_00000222.json
ADDED
|
@@ -0,0 +1,478 @@
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| 478 |
+
}
|
annotations/episode_00000245.json
ADDED
|
@@ -0,0 +1,420 @@
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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": 7463,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
7463
|
| 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 |
+
543
|
| 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 |
+
543,
|
| 53 |
+
2038
|
| 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 |
+
2038,
|
| 77 |
+
2640
|
| 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_189",
|
| 95 |
+
"countertop_ikwqer_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
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"manipulating_object_id": [
|
| 99 |
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"baseball_cap_189"
|
| 100 |
+
],
|
| 101 |
+
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|
| 102 |
+
"frame_duration": [
|
| 103 |
+
2640,
|
| 104 |
+
3089
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
93
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"turn to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
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[
|
| 121 |
+
"baseball_cap_188",
|
| 122 |
+
"robot"
|
| 123 |
+
]
|
| 124 |
+
],
|
| 125 |
+
"manipulating_object_id": [
|
| 126 |
+
"baseball_cap_188"
|
| 127 |
+
],
|
| 128 |
+
"spatial_prefix": [
|
| 129 |
+
[
|
| 130 |
+
"",
|
| 131 |
+
"face"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"frame_duration": [
|
| 135 |
+
3089,
|
| 136 |
+
3510
|
| 137 |
+
],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": [
|
| 140 |
+
"uncoordinated"
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"skill_idx": 5,
|
| 145 |
+
"skill_id": [
|
| 146 |
+
2
|
| 147 |
+
],
|
| 148 |
+
"skill_description": [
|
| 149 |
+
"pick up from"
|
| 150 |
+
],
|
| 151 |
+
"object_id": [
|
| 152 |
+
[
|
| 153 |
+
"baseball_cap_188",
|
| 154 |
+
"countertop_ikwqer_0"
|
| 155 |
+
]
|
| 156 |
+
],
|
| 157 |
+
"manipulating_object_id": [
|
| 158 |
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"baseball_cap_188"
|
| 159 |
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],
|
| 160 |
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|
| 161 |
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|
| 162 |
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3510,
|
| 163 |
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3898
|
| 164 |
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],
|
| 165 |
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|
| 166 |
+
"skill_type": [
|
| 167 |
+
"uncoordinated"
|
| 168 |
+
]
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"skill_idx": 6,
|
| 172 |
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|
| 173 |
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1
|
| 174 |
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],
|
| 175 |
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|
| 176 |
+
"move to"
|
| 177 |
+
],
|
| 178 |
+
"object_id": [
|
| 179 |
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[
|
| 180 |
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"washer_ynwamu_0"
|
| 181 |
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]
|
| 182 |
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],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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3898,
|
| 187 |
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4250
|
| 188 |
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],
|
| 189 |
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"mp_ef": [],
|
| 190 |
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"skill_type": [
|
| 191 |
+
"navigation"
|
| 192 |
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]
|
| 193 |
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},
|
| 194 |
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{
|
| 195 |
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"skill_idx": 7,
|
| 196 |
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"skill_id": [
|
| 197 |
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4
|
| 198 |
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],
|
| 199 |
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"skill_description": [
|
| 200 |
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"place in"
|
| 201 |
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],
|
| 202 |
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"object_id": [
|
| 203 |
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[
|
| 204 |
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"baseball_cap_188",
|
| 205 |
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"washer_ynwamu_0"
|
| 206 |
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]
|
| 207 |
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],
|
| 208 |
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"manipulating_object_id": [
|
| 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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4250,
|
| 214 |
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5119
|
| 215 |
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],
|
| 216 |
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|
| 217 |
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"skill_type": [
|
| 218 |
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"uncoordinated"
|
| 219 |
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]
|
| 220 |
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},
|
| 221 |
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{
|
| 222 |
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|
| 223 |
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|
| 224 |
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4
|
| 225 |
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],
|
| 226 |
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|
| 227 |
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"place in"
|
| 228 |
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],
|
| 229 |
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"object_id": [
|
| 230 |
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[
|
| 231 |
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"baseball_cap_189",
|
| 232 |
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"washer_ynwamu_0"
|
| 233 |
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]
|
| 234 |
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],
|
| 235 |
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|
| 236 |
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"baseball_cap_189"
|
| 237 |
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],
|
| 238 |
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|
| 239 |
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|
| 240 |
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5119,
|
| 241 |
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5879
|
| 242 |
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],
|
| 243 |
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"mp_ef": [],
|
| 244 |
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"skill_type": [
|
| 245 |
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"uncoordinated"
|
| 246 |
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]
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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|
| 250 |
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"skill_id": [
|
| 251 |
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12
|
| 252 |
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],
|
| 253 |
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"skill_description": [
|
| 254 |
+
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