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- annotations/episode_00000001.json +758 -0
- annotations/episode_00000011.json +755 -0
- annotations/episode_00000022.json +788 -0
- annotations/episode_00000030.json +788 -0
- annotations/episode_00000061.json +788 -0
- annotations/episode_00000065.json +821 -0
- annotations/episode_00000078.json +788 -0
- annotations/episode_00000080.json +755 -0
- annotations/episode_00000083.json +788 -0
- annotations/episode_00000095.json +755 -0
- annotations/episode_00000097.json +788 -0
- annotations/episode_00000098.json +755 -0
- annotations/episode_00000107.json +788 -0
- annotations/episode_00000121.json +821 -0
- annotations/episode_00000147.json +796 -0
- annotations/episode_00000163.json +788 -0
- annotations/episode_00000201.json +788 -0
- annotations/episode_00000202.json +788 -0
- annotations/episode_00000205.json +788 -0
- annotations/episode_00000229.json +821 -0
- annotations/episode_00000246.json +788 -0
- meta/sim/episode_00000003.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_00000012.json +0 -0
- meta/sim/episode_00000014.json +0 -0
- meta/sim/episode_00000017.json +0 -0
- meta/sim/episode_00000018.json +0 -0
- meta/sim/episode_00000020.json +0 -0
- meta/sim/episode_00000021.json +0 -0
- meta/sim/episode_00000023.json +0 -0
- meta/sim/episode_00000031.json +0 -0
- meta/sim/episode_00000033.json +0 -0
- meta/sim/episode_00000038.json +0 -0
- meta/sim/episode_00000041.json +0 -0
- meta/sim/episode_00000047.json +0 -0
- meta/sim/episode_00000049.json +0 -0
- meta/sim/episode_00000050.json +0 -0
- meta/sim/episode_00000054.json +0 -0
- meta/sim/episode_00000056.json +0 -0
- meta/sim/episode_00000058.json +0 -0
- meta/sim/episode_00000062.json +0 -0
- meta/sim/episode_00000066.json +0 -0
- meta/sim/episode_00000072.json +0 -0
- meta/sim/episode_00000073.json +0 -0
- meta/sim/episode_00000074.json +0 -0
- meta/sim/episode_00000075.json +0 -0
- meta/sim/episode_00000077.json +0 -0
- meta/sim/episode_00000097.json +0 -0
annotations/episode_00000001.json
ADDED
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@@ -0,0 +1,758 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11010,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
90,
|
| 8 |
+
11100
|
| 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 |
+
],
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| 25 |
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| 502 |
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|
| 527 |
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| 739 |
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| 740 |
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|
| 741 |
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| 755 |
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| 756 |
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|
| 757 |
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]
|
| 758 |
+
}
|
annotations/episode_00000011.json
ADDED
|
@@ -0,0 +1,755 @@
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| 1 |
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| 2 |
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| 755 |
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|
annotations/episode_00000022.json
ADDED
|
@@ -0,0 +1,788 @@
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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 dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11627,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
11627
|
| 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 |
+
557
|
| 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 |
+
558,
|
| 53 |
+
1787
|
| 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 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1787,
|
| 77 |
+
2411
|
| 78 |
+
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| 763 |
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|
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|
| 769 |
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|
| 771 |
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| 775 |
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|
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|
| 786 |
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|
| 787 |
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|
| 788 |
+
}
|
annotations/episode_00000030.json
ADDED
|
@@ -0,0 +1,788 @@
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"washer_ynwamu_0"
|
| 777 |
+
],
|
| 778 |
+
"spatial_prefix": [],
|
| 779 |
+
"frame_duration": [
|
| 780 |
+
10982,
|
| 781 |
+
11735
|
| 782 |
+
],
|
| 783 |
+
"skill_idxes": [
|
| 784 |
+
19
|
| 785 |
+
]
|
| 786 |
+
}
|
| 787 |
+
]
|
| 788 |
+
}
|
annotations/episode_00000061.json
ADDED
|
@@ -0,0 +1,788 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10711,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
10711
|
| 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 |
+
242
|
| 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 |
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}
|
annotations/episode_00000065.json
ADDED
|
@@ -0,0 +1,821 @@
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| 1 |
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|
| 2 |
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| 3 |
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| 4 |
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| 6 |
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| 19 |
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| 26 |
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| 29 |
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|
| 730 |
+
[
|
| 731 |
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"teddy_bear_191",
|
| 732 |
+
"tennis_ball_189"
|
| 733 |
+
],
|
| 734 |
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"washer_ynwamu_0"
|
| 735 |
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]
|
| 736 |
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|
| 737 |
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|
| 738 |
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[
|
| 739 |
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|
| 740 |
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|
| 741 |
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],
|
| 742 |
+
[
|
| 743 |
+
"teddy_bear_191",
|
| 744 |
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"tennis_ball_189"
|
| 745 |
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]
|
| 746 |
+
],
|
| 747 |
+
"spatial_prefix": [
|
| 748 |
+
[
|
| 749 |
+
[],
|
| 750 |
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[
|
| 751 |
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"middle_level",
|
| 752 |
+
"middle_level"
|
| 753 |
+
]
|
| 754 |
+
],
|
| 755 |
+
[]
|
| 756 |
+
],
|
| 757 |
+
"frame_duration": [
|
| 758 |
+
6860,
|
| 759 |
+
10131
|
| 760 |
+
],
|
| 761 |
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|
| 762 |
+
11,
|
| 763 |
+
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|
| 764 |
+
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|
| 765 |
+
14,
|
| 766 |
+
15,
|
| 767 |
+
16,
|
| 768 |
+
17,
|
| 769 |
+
18
|
| 770 |
+
]
|
| 771 |
+
},
|
| 772 |
+
{
|
| 773 |
+
"primitive_idx": 4,
|
| 774 |
+
"primitive_id": [
|
| 775 |
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12
|
| 776 |
+
],
|
| 777 |
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"primitive_description": [
|
| 778 |
+
"close door"
|
| 779 |
+
],
|
| 780 |
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"object_id": [
|
| 781 |
+
[
|
| 782 |
+
"washer_ynwamu_0"
|
| 783 |
+
]
|
| 784 |
+
],
|
| 785 |
+
"manipulating_object_id": [],
|
| 786 |
+
"spatial_prefix": [],
|
| 787 |
+
"frame_duration": [
|
| 788 |
+
10132,
|
| 789 |
+
10725
|
| 790 |
+
],
|
| 791 |
+
"skill_idxes": [
|
| 792 |
+
19
|
| 793 |
+
]
|
| 794 |
+
},
|
| 795 |
+
{
|
| 796 |
+
"primitive_idx": 5,
|
| 797 |
+
"primitive_id": [
|
| 798 |
+
69
|
| 799 |
+
],
|
| 800 |
+
"primitive_description": [
|
| 801 |
+
"turn on switch"
|
| 802 |
+
],
|
| 803 |
+
"object_id": [
|
| 804 |
+
[
|
| 805 |
+
"washer_ynwamu_0"
|
| 806 |
+
]
|
| 807 |
+
],
|
| 808 |
+
"manipulating_object_id": [
|
| 809 |
+
"washer_ynwamu_0"
|
| 810 |
+
],
|
| 811 |
+
"spatial_prefix": [],
|
| 812 |
+
"frame_duration": [
|
| 813 |
+
10725,
|
| 814 |
+
11661
|
| 815 |
+
],
|
| 816 |
+
"skill_idxes": [
|
| 817 |
+
20
|
| 818 |
+
]
|
| 819 |
+
}
|
| 820 |
+
]
|
| 821 |
+
}
|
annotations/episode_00000078.json
ADDED
|
@@ -0,0 +1,788 @@
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}
|
annotations/episode_00000080.json
ADDED
|
@@ -0,0 +1,755 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10886,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
90,
|
| 8 |
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10976
|
| 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 |
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"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
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|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
90,
|
| 29 |
+
603
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
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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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603,
|
| 53 |
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1836
|
| 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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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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|
| 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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1836,
|
| 77 |
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2397
|
| 78 |
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],
|
| 79 |
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"mp_ef": [],
|
| 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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10
|
| 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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"left_door"
|
| 101 |
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]
|
| 102 |
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],
|
| 103 |
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|
| 104 |
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2398,
|
| 105 |
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3184
|
| 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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10
|
| 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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"bottom_cabinet_no_top_gjrero_0"
|
| 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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3184,
|
| 133 |
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4146
|
| 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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2
|
| 144 |
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],
|
| 145 |
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|
| 146 |
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"pick up from"
|
| 147 |
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],
|
| 148 |
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"object_id": [
|
| 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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4146,
|
| 165 |
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4530
|
| 166 |
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],
|
| 167 |
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"mp_ef": [],
|
| 168 |
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"skill_type": [
|
| 169 |
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"uncoordinated"
|
| 170 |
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]
|
| 171 |
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},
|
| 172 |
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{
|
| 173 |
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"skill_idx": 6,
|
| 174 |
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|
| 175 |
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90
|
| 176 |
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],
|
| 177 |
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|
| 178 |
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"push to"
|
| 179 |
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],
|
| 180 |
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"object_id": [
|
| 181 |
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[
|
| 182 |
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"teddy_bear_190",
|
| 183 |
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"bottom_cabinet_no_top_gjrero_0"
|
| 184 |
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]
|
| 185 |
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],
|
| 186 |
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|
| 187 |
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"teddy_bear_190"
|
| 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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"reorient"
|
| 193 |
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]
|
| 194 |
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],
|
| 195 |
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|
| 196 |
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4530,
|
| 197 |
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4665
|
| 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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{
|
| 205 |
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|
| 206 |
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|
| 207 |
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2
|
| 208 |
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],
|
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[
|
| 685 |
+
[],
|
| 686 |
+
[
|
| 687 |
+
"middle_level",
|
| 688 |
+
"middle_level"
|
| 689 |
+
]
|
| 690 |
+
],
|
| 691 |
+
[]
|
| 692 |
+
],
|
| 693 |
+
"frame_duration": [
|
| 694 |
+
6887,
|
| 695 |
+
9957
|
| 696 |
+
],
|
| 697 |
+
"skill_idxes": [
|
| 698 |
+
11,
|
| 699 |
+
12,
|
| 700 |
+
13,
|
| 701 |
+
14,
|
| 702 |
+
15,
|
| 703 |
+
16
|
| 704 |
+
]
|
| 705 |
+
},
|
| 706 |
+
{
|
| 707 |
+
"primitive_idx": 4,
|
| 708 |
+
"primitive_id": [
|
| 709 |
+
12
|
| 710 |
+
],
|
| 711 |
+
"primitive_description": [
|
| 712 |
+
"close door"
|
| 713 |
+
],
|
| 714 |
+
"object_id": [
|
| 715 |
+
[
|
| 716 |
+
"washer_ynwamu_0"
|
| 717 |
+
]
|
| 718 |
+
],
|
| 719 |
+
"manipulating_object_id": [],
|
| 720 |
+
"spatial_prefix": [],
|
| 721 |
+
"frame_duration": [
|
| 722 |
+
9957,
|
| 723 |
+
10557
|
| 724 |
+
],
|
| 725 |
+
"skill_idxes": [
|
| 726 |
+
17
|
| 727 |
+
]
|
| 728 |
+
},
|
| 729 |
+
{
|
| 730 |
+
"primitive_idx": 5,
|
| 731 |
+
"primitive_id": [
|
| 732 |
+
69
|
| 733 |
+
],
|
| 734 |
+
"primitive_description": [
|
| 735 |
+
"turn on switch"
|
| 736 |
+
],
|
| 737 |
+
"object_id": [
|
| 738 |
+
[
|
| 739 |
+
"washer_ynwamu_0"
|
| 740 |
+
]
|
| 741 |
+
],
|
| 742 |
+
"manipulating_object_id": [
|
| 743 |
+
"washer_ynwamu_0"
|
| 744 |
+
],
|
| 745 |
+
"spatial_prefix": [],
|
| 746 |
+
"frame_duration": [
|
| 747 |
+
10557,
|
| 748 |
+
10976
|
| 749 |
+
],
|
| 750 |
+
"skill_idxes": [
|
| 751 |
+
18
|
| 752 |
+
]
|
| 753 |
+
}
|
| 754 |
+
]
|
| 755 |
+
}
|
annotations/episode_00000083.json
ADDED
|
@@ -0,0 +1,788 @@
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|
| 788 |
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}
|
annotations/episode_00000095.json
ADDED
|
@@ -0,0 +1,755 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
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"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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0,
|
| 8 |
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|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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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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|
| 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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400
|
| 30 |
+
],
|
| 31 |
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|
| 32 |
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|
| 33 |
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"navigation"
|
| 34 |
+
]
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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10
|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 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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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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|
| 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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1974
|
| 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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1975,
|
| 105 |
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2654
|
| 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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10
|
| 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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2654,
|
| 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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2
|
| 144 |
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|
| 145 |
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|
| 146 |
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"pick up from"
|
| 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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3438,
|
| 165 |
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3761
|
| 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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90
|
| 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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|
| 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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| 193 |
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]
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| 194 |
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| 195 |
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|
| 196 |
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3761,
|
| 197 |
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3912
|
| 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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{
|
| 205 |
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|
| 206 |
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| 207 |
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2
|
| 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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| 222 |
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[
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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| 231 |
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+
"primitive_id": [
|
| 709 |
+
12
|
| 710 |
+
],
|
| 711 |
+
"primitive_description": [
|
| 712 |
+
"close door"
|
| 713 |
+
],
|
| 714 |
+
"object_id": [
|
| 715 |
+
[
|
| 716 |
+
"washer_ynwamu_0"
|
| 717 |
+
]
|
| 718 |
+
],
|
| 719 |
+
"manipulating_object_id": [],
|
| 720 |
+
"spatial_prefix": [],
|
| 721 |
+
"frame_duration": [
|
| 722 |
+
8126,
|
| 723 |
+
8782
|
| 724 |
+
],
|
| 725 |
+
"skill_idxes": [
|
| 726 |
+
17
|
| 727 |
+
]
|
| 728 |
+
},
|
| 729 |
+
{
|
| 730 |
+
"primitive_idx": 5,
|
| 731 |
+
"primitive_id": [
|
| 732 |
+
69
|
| 733 |
+
],
|
| 734 |
+
"primitive_description": [
|
| 735 |
+
"turn on switch"
|
| 736 |
+
],
|
| 737 |
+
"object_id": [
|
| 738 |
+
[
|
| 739 |
+
"washer_ynwamu_0"
|
| 740 |
+
]
|
| 741 |
+
],
|
| 742 |
+
"manipulating_object_id": [
|
| 743 |
+
"washer_ynwamu_0"
|
| 744 |
+
],
|
| 745 |
+
"spatial_prefix": [],
|
| 746 |
+
"frame_duration": [
|
| 747 |
+
8782,
|
| 748 |
+
9606
|
| 749 |
+
],
|
| 750 |
+
"skill_idxes": [
|
| 751 |
+
18
|
| 752 |
+
]
|
| 753 |
+
}
|
| 754 |
+
]
|
| 755 |
+
}
|
annotations/episode_00000097.json
ADDED
|
@@ -0,0 +1,788 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12350,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
90,
|
| 8 |
+
12440
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
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| 12 |
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}
|
annotations/episode_00000098.json
ADDED
|
@@ -0,0 +1,755 @@
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| 1 |
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{
|
| 2 |
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|
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 9 |
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| 12 |
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| 13 |
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| 15 |
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| 16 |
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| 18 |
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| 19 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 31 |
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| 32 |
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| 33 |
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| 36 |
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| 141 |
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| 172 |
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| 173 |
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| 191 |
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+
"primitive_idx": 5,
|
| 731 |
+
"primitive_id": [
|
| 732 |
+
69
|
| 733 |
+
],
|
| 734 |
+
"primitive_description": [
|
| 735 |
+
"turn on switch"
|
| 736 |
+
],
|
| 737 |
+
"object_id": [
|
| 738 |
+
[
|
| 739 |
+
"washer_ynwamu_0"
|
| 740 |
+
]
|
| 741 |
+
],
|
| 742 |
+
"manipulating_object_id": [
|
| 743 |
+
"washer_ynwamu_0"
|
| 744 |
+
],
|
| 745 |
+
"spatial_prefix": [],
|
| 746 |
+
"frame_duration": [
|
| 747 |
+
11931,
|
| 748 |
+
12439
|
| 749 |
+
],
|
| 750 |
+
"skill_idxes": [
|
| 751 |
+
18
|
| 752 |
+
]
|
| 753 |
+
}
|
| 754 |
+
]
|
| 755 |
+
}
|
annotations/episode_00000107.json
ADDED
|
@@ -0,0 +1,788 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10866,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
10866
|
| 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 |
+
639
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
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|
| 788 |
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}
|
annotations/episode_00000121.json
ADDED
|
@@ -0,0 +1,821 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "wash dog toys",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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0,
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| 8 |
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| 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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|
| 15 |
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1
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| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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| 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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598
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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| 39 |
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10
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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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| 50 |
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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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| 59 |
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|
| 60 |
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| 61 |
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| 67 |
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| 70 |
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| 72 |
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| 77 |
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| 79 |
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| 80 |
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| 84 |
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| 85 |
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| 101 |
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| 106 |
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| 108 |
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| 111 |
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| 113 |
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| 115 |
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| 116 |
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| 119 |
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| 120 |
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| 122 |
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| 123 |
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| 124 |
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|
| 126 |
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| 127 |
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|
| 129 |
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| 131 |
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| 132 |
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|
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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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90
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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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| 162 |
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| 163 |
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| 164 |
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| 165 |
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4107
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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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2
|
| 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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| 182 |
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| 188 |
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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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| 200 |
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| 201 |
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| 204 |
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{
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| 205 |
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| 207 |
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90
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| 208 |
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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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| 222 |
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| 223 |
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|
| 717 |
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|
| 718 |
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|
| 719 |
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| 720 |
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|
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| 722 |
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|
| 723 |
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| 724 |
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| 725 |
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|
| 726 |
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|
| 727 |
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|
| 728 |
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|
| 729 |
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|
| 730 |
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[
|
| 731 |
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[
|
| 732 |
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|
| 733 |
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| 734 |
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|
| 735 |
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| 736 |
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| 738 |
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|
| 739 |
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| 740 |
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|
| 741 |
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|
| 742 |
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|
| 743 |
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[
|
| 744 |
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|
| 745 |
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|
| 746 |
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|
| 747 |
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|
| 748 |
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|
| 749 |
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[
|
| 750 |
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[],
|
| 751 |
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[
|
| 752 |
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|
| 753 |
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|
| 754 |
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|
| 755 |
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|
| 756 |
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[]
|
| 757 |
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|
| 758 |
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|
| 759 |
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7059,
|
| 760 |
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9670
|
| 761 |
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| 762 |
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| 763 |
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|
| 765 |
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| 766 |
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|
| 767 |
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|
| 768 |
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17,
|
| 769 |
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|
| 770 |
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|
| 771 |
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|
| 772 |
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|
| 773 |
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|
| 774 |
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|
| 776 |
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|
| 779 |
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| 780 |
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|
| 781 |
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[
|
| 782 |
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|
| 783 |
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|
| 784 |
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|
| 785 |
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|
| 786 |
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|
| 787 |
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|
| 788 |
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9670,
|
| 789 |
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10448
|
| 790 |
+
],
|
| 791 |
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|
| 792 |
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19
|
| 793 |
+
]
|
| 794 |
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},
|
| 795 |
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{
|
| 796 |
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|
| 797 |
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|
| 798 |
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69
|
| 799 |
+
],
|
| 800 |
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|
| 801 |
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|
| 802 |
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],
|
| 803 |
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|
| 804 |
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[
|
| 805 |
+
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|
| 806 |
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|
| 807 |
+
],
|
| 808 |
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"manipulating_object_id": [
|
| 809 |
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|
| 810 |
+
],
|
| 811 |
+
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|
| 812 |
+
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|
| 813 |
+
10448,
|
| 814 |
+
11247
|
| 815 |
+
],
|
| 816 |
+
"skill_idxes": [
|
| 817 |
+
20
|
| 818 |
+
]
|
| 819 |
+
}
|
| 820 |
+
]
|
| 821 |
+
}
|
annotations/episode_00000147.json
ADDED
|
@@ -0,0 +1,796 @@
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|
annotations/episode_00000163.json
ADDED
|
@@ -0,0 +1,788 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11229,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
11229
|
| 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 |
+
470
|
| 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 |
+
470,
|
| 53 |
+
1849
|
| 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 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1849,
|
| 77 |
+
2402
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
10
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"open door"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"manipulating_object_id": [],
|
| 98 |
+
"spatial_prefix": [
|
| 99 |
+
[
|
| 100 |
+
"left_door"
|
| 101 |
+
]
|
| 102 |
+
],
|
| 103 |
+
"frame_duration": [
|
| 104 |
+
2402,
|
| 105 |
+
3113
|
| 106 |
+
],
|
| 107 |
+
"mp_ef": [],
|
| 108 |
+
"skill_type": [
|
| 109 |
+
"uncoordinated"
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"skill_idx": 4,
|
| 114 |
+
"skill_id": [
|
| 115 |
+
10
|
| 116 |
+
],
|
| 117 |
+
"skill_description": [
|
| 118 |
+
"open door"
|
| 119 |
+
],
|
| 120 |
+
"object_id": [
|
| 121 |
+
[
|
| 122 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 123 |
+
]
|
| 124 |
+
],
|
| 125 |
+
"manipulating_object_id": [],
|
| 126 |
+
"spatial_prefix": [
|
| 127 |
+
[
|
| 128 |
+
"right_door"
|
| 129 |
+
]
|
| 130 |
+
],
|
| 131 |
+
"frame_duration": [
|
| 132 |
+
3113,
|
| 133 |
+
4290
|
| 134 |
+
],
|
| 135 |
+
"mp_ef": [],
|
| 136 |
+
"skill_type": [
|
| 137 |
+
"uncoordinated"
|
| 138 |
+
]
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"skill_idx": 5,
|
| 142 |
+
"skill_id": [
|
| 143 |
+
2
|
| 144 |
+
],
|
| 145 |
+
"skill_description": [
|
| 146 |
+
"pick up from"
|
| 147 |
+
],
|
| 148 |
+
"object_id": [
|
| 149 |
+
[
|
| 150 |
+
"tennis_ball_189",
|
| 151 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 152 |
+
]
|
| 153 |
+
],
|
| 154 |
+
"manipulating_object_id": [
|
| 155 |
+
"tennis_ball_189"
|
| 156 |
+
],
|
| 157 |
+
"spatial_prefix": [
|
| 158 |
+
[
|
| 159 |
+
"",
|
| 160 |
+
"high_level"
|
| 161 |
+
]
|
| 162 |
+
],
|
| 163 |
+
"frame_duration": [
|
| 164 |
+
4290,
|
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| 642 |
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| 651 |
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| 652 |
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| 697 |
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| 719 |
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|
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|
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| 724 |
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| 734 |
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|
| 736 |
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| 739 |
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| 740 |
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|
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|
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|
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|
| 760 |
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|
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|
| 762 |
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| 763 |
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|
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|
| 766 |
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|
| 767 |
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| 768 |
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|
| 769 |
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|
| 770 |
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|
| 771 |
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|
| 772 |
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|
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|
| 775 |
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|
| 776 |
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|
| 777 |
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|
| 778 |
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|
| 779 |
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|
| 780 |
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|
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|
| 782 |
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|
| 783 |
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|
| 784 |
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|
| 785 |
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|
| 786 |
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|
| 787 |
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]
|
| 788 |
+
}
|
annotations/episode_00000201.json
ADDED
|
@@ -0,0 +1,788 @@
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|
annotations/episode_00000202.json
ADDED
|
@@ -0,0 +1,788 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10841,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
57,
|
| 8 |
+
10898
|
| 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 |
+
57,
|
| 29 |
+
681
|
| 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 |
+
681,
|
| 53 |
+
2004
|
| 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 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
2004,
|
| 77 |
+
2499
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
10
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"open door"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
"manipulating_object_id": [],
|
| 98 |
+
"spatial_prefix": [
|
| 99 |
+
[
|
| 100 |
+
"left_door"
|
| 101 |
+
]
|
| 102 |
+
],
|
| 103 |
+
"frame_duration": [
|
| 104 |
+
2499,
|
| 105 |
+
3201
|
| 106 |
+
],
|
| 107 |
+
"mp_ef": [],
|
| 108 |
+
"skill_type": [
|
| 109 |
+
"uncoordinated"
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"skill_idx": 4,
|
| 114 |
+
"skill_id": [
|
| 115 |
+
10
|
| 116 |
+
],
|
| 117 |
+
"skill_description": [
|
| 118 |
+
"open door"
|
| 119 |
+
],
|
| 120 |
+
"object_id": [
|
| 121 |
+
[
|
| 122 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 123 |
+
]
|
| 124 |
+
],
|
| 125 |
+
"manipulating_object_id": [],
|
| 126 |
+
"spatial_prefix": [
|
| 127 |
+
[
|
| 128 |
+
"right_door"
|
| 129 |
+
]
|
| 130 |
+
],
|
| 131 |
+
"frame_duration": [
|
| 132 |
+
3201,
|
| 133 |
+
4323
|
| 134 |
+
],
|
| 135 |
+
"mp_ef": [],
|
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| 763 |
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|
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|
| 769 |
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| 772 |
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| 775 |
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|
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|
| 786 |
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|
| 787 |
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|
| 788 |
+
}
|
annotations/episode_00000205.json
ADDED
|
@@ -0,0 +1,788 @@
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|
annotations/episode_00000229.json
ADDED
|
@@ -0,0 +1,821 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "wash dog toys",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10444,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
53,
|
| 8 |
+
10497
|
| 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 |
+
53,
|
| 29 |
+
484
|
| 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 |
+
484,
|
| 53 |
+
1716
|
| 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 |
+
"bottom_cabinet_no_top_gjrero_0"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1716,
|
| 77 |
+
2195
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
10
|
| 88 |
+
],
|
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|
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| 800 |
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|
| 802 |
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|
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|
| 820 |
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]
|
| 821 |
+
}
|
annotations/episode_00000246.json
ADDED
|
@@ -0,0 +1,788 @@
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| 1 |
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|
| 2 |
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|
| 3 |
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| 4 |
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| 6 |
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| 19 |
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| 26 |
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| 27 |
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| 31 |
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| 33 |
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| 36 |
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| 146 |
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| 152 |
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| 162 |
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| 168 |
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| 169 |
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| 172 |
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{
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| 173 |
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| 175 |
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90
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| 176 |
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| 177 |
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| 179 |
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| 180 |
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| 191 |
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| 753 |
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| 754 |
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| 755 |
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9339,
|
| 756 |
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9834
|
| 757 |
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],
|
| 758 |
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|
| 759 |
+
18
|
| 760 |
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]
|
| 761 |
+
},
|
| 762 |
+
{
|
| 763 |
+
"primitive_idx": 5,
|
| 764 |
+
"primitive_id": [
|
| 765 |
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69
|
| 766 |
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],
|
| 767 |
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"primitive_description": [
|
| 768 |
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"turn on switch"
|
| 769 |
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| 770 |
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| 771 |
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[
|
| 772 |
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"washer_ynwamu_0"
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| 773 |
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]
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| 774 |
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],
|
| 775 |
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"manipulating_object_id": [
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| 776 |
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"washer_ynwamu_0"
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| 777 |
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| 778 |
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| 779 |
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| 780 |
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9834,
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| 781 |
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10312
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| 782 |
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| 783 |
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|
| 784 |
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19
|
| 785 |
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]
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| 786 |
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}
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| 787 |
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|
| 788 |
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}
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